A method and apparatus for controlling a UAV based on a three-dimensional undirected graph

Abstract

The application discloses a kind of unmanned plane control method and device based on three-dimensional undirected graph, when executing the method, first receive target point information of ground control server;Then according to the target point information and three-dimensional undirected graph, using depth-first algorithm, calculate expected path, then, when there is conflict ball in expected path, send the use right request of conflict ball to ground control server, finally when receiving the conflict ball use right sent by ground control server, flight according to expected path.By the above mode, the 3D map is preprocessed as node, edge, offset description route data, then the expected path is calculated by unmanned plane position and target point information, calculation method is clear and simple, algorithm complexity depends on track number of division and virtual track number on each layer, compared with other unmanned plane group path planning algorithm, operation amount is extremely small.Moreover, by centralized control mode, reduce unmanned plane communication channel and communication amount.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle control, and in particular to an unmanned aerial vehicle control method and device based on a three-dimensional undirected graph. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicles and low-altitude economy, unmanned aerial vehicle groups are widely used in short-distance operations such as carrying, inspection, and spraying, and have advantages such as flexibility and economy. The key point of unmanned aerial vehicle group control in these operation scenarios is how each unmanned aerial vehicle in the unmanned aerial vehicle group reaches the operation point to perform the operation, how to solve the route conflict, and how to efficiently and stably control the unmanned aerial vehicle group to complete the operation task, which has become a focus of attention in the field of unmanned aerial vehicle control.

[0003] Currently, in the control of unmanned aerial vehicle groups, the distributed coordination method is usually used to solve the conflict problem, and a large number of planning algorithms are used, such as AStar algorithm, Dijkstra algorithm, RRT (Rapidly-exploring Random Tree) algorithm, and neural network algorithm. The unmanned aerial vehicle path planning algorithm has a large amount of calculation, and the communication volume of a single unmanned aerial vehicle is large, resulting in a large amount of external information to be processed. SUMMARY

[0004] Therefore, the present application provides an unmanned aerial vehicle control method and device based on a three-dimensional undirected graph, which aims to reduce the amount of calculation of the unmanned aerial vehicle path planning algorithm and reduce the communication volume of the unmanned aerial vehicle.

[0005] In a first aspect, the present application provides an unmanned aerial vehicle control method based on a three-dimensional undirected graph, characterized in that the method comprises:

[0006] receiving target point information of a ground control server;

[0007] calculating an expected path using a depth-first algorithm according to the target point information and a three-dimensional undirected graph, wherein the three-dimensional undirected graph is obtained by converting a 3D map, the three-dimensional undirected graph comprises nodes and edges, the nodes are intersection points between different routes, and each edge has a unique identifier.

[0008] when a conflict ball exists in the expected path, sending a use right request of the conflict ball to the ground control server, wherein the use right request comprises a driving-in direction, a driving-out direction, and a unmanned aerial vehicle number, and the conflict ball is a three-dimensional display of the node;

[0009] when receiving the use right of the conflict ball sent by the ground control server, flying according to the expected path, and the use right of the conflict ball is used to indicate that there is no path obstacle in the expected path.

[0010] Optionally, when receiving the conflict ball occupied by other unmanned aerial vehicle information sent by the ground control server, retreat to the outside of the conflict ball.

[0011] Optionally, when receiving the artificial protection zone existing in the expected path information sent by the ground control server, prohibit entering the artificial protection zone.

[0012] Optionally, the method further comprises:

[0013] Obtaining a first longitude value, a first latitude value and a first altitude value of the unmanned aerial vehicle at a first time;

[0014] Obtaining a second longitude value, a second latitude value and a second altitude value of the unmanned aerial vehicle at a second time, the second time being later than the first time;

[0015] 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, constructing a vector;

[0016] According to the vector and the delay time of the unmanned aerial vehicle and the ground control server, determining the safety envelope of the unmanned aerial vehicle.

[0017] Optionally, when detecting that there is another unmanned aerial vehicle in front, retreat to the edge of the safety envelope of the unmanned aerial vehicle.

[0018] Optionally, the method further comprises:

[0019] When there is a conflict ball in the expected path, the first unmanned aerial vehicle sends a use right request of the conflict ball to the ground control server, the first unmanned aerial vehicle being the frontmost unmanned aerial vehicle in a unmanned aerial vehicle group composed of multiple unmanned aerial vehicles;

[0020] The second unmanned aerial vehicle maintains a distance from the first unmanned aerial vehicle according to the safety envelope, the second unmanned aerial vehicle being an unmanned aerial vehicle other than the first unmanned aerial vehicle in the unmanned aerial vehicle group;

[0021] When receiving the use right of the conflict ball sent by the ground control server, the unmanned aerial vehicle group flies according to the expected path;

[0022] When the unmanned aerial vehicle group drives away from the conflict ball, the first unmanned aerial vehicle sends a use right request release of 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 comprising a regional limit speed;

[0024] Flying according to the regional limit speed.

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

[0026] a receiving module configured to receive target point information from a ground control server;

[0027] a calculating module configured to calculate an expected path using a depth-first algorithm based on the target point information and a three-dimensional undirected graph, the three-dimensional undirected graph being obtained by converting a 3D map, the three-dimensional undirected graph comprising nodes and edges, the nodes being intersection points between different routes, and the edges being connections between different nodes, each edge having a unique identifier;

[0028] a sending module configured to send a request for use right of a conflict sphere to the ground control server when the expected path contains a conflict sphere, the request for use right comprising a driving-in direction, a driving-out direction, and a UAV number, the conflict sphere being a three-dimensional display of the node;

[0029] a flying module configured to fly according to the expected path when a use right of the conflict sphere is received from the ground control server, the use right of the conflict sphere being used to indicate that the expected path does not contain a path obstacle.

[0030] Optionally, the flying module is further configured to retreat to an outside of the conflict sphere when information that the conflict sphere is occupied by another UAV is received from the ground control server.

[0031] Optionally, the flying module is further configured to prohibit driving into an artificial protection zone when information that the expected path contains the artificial protection zone is received from the ground control server.

[0032] In a third aspect, an electronic device is provided, the electronic device comprising:

[0033] a memory configured to store one or more programs;

[0034] a processor; when the one or more programs are executed by the processor, the method for controlling a UAV based on a three-dimensional undirected graph according to any one of the first aspect is implemented.

[0035] In a fourth aspect, a computer storage medium is provided, the computer storage medium storing a program, when the program is executed by a processor, the method for controlling a UAV based on a three-dimensional undirected graph according to any one of the first aspect is implemented.

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

[0037] This application provides a method and apparatus for controlling a UAV based on a three-dimensional undirected graph. When executing the method, firstly, target point information is received from a ground control server; then, based on the target point information and the three-dimensional undirected graph, a depth-first search algorithm is used to calculate the desired path; the three-dimensional undirected graph is obtained through 3D map conversion, and includes nodes and edges, where nodes are intersections between different flight paths, and edges are lines connecting different nodes, each edge having a unique identifier; then, when a conflict ball exists in the desired path, a request for the right to use the conflict ball is sent to the ground control server, the request including the entry direction, exit direction, and UAV number, and the conflict ball is a three-dimensional display of the node; finally, upon receiving the conflict ball usage right from the ground control server, the UAV flies according to the desired path, the conflict ball usage right indicating that there are no obstacles on the desired path. Through the above method, this application preprocesses the 3D map into route data described by nodes, edges, and offsets. Then, the desired path is calculated using the UAV's 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, resulting in extremely low computational load compared to other UAV swarm path planning algorithms. Furthermore, the centralized control method reduces the number of UAV communication channels and the amount of communication required. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0040] Figure 2 A schematic diagram illustrating an example of a three-dimensional undirected graph provided in an embodiment of this application;

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

[0042] Figure 4 This is an example diagram illustrating a mobile authorization conflict provided in an embodiment of this application.

[0043] Figure 5 This is a schematic diagram of a UAV control device based on a three-dimensional undirected graph, provided in an embodiment of this application. Detailed Implementation

[0044] With reference to the accompanying drawings: clearly and fully describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0045] To facilitate further understanding of the technical solutions provided by the present application, the background art related to the present application will be described first.

[0046] In the control of the UAV group for short-distance operations such as carrying, inspection, and spraying, the UAV group usually operates according to a specific route. The key point of the UAV group control in these operation scenarios is how each UAV in the UAV group reaches the operation point for operation and how to solve the route conflict.

[0047] At present, in the control of the UAV group, the distributed cooperative mode is usually used to solve the route conflict. The features of this mode are as follows:

[0048] 1. Each member of the UAV group needs to establish communication with each other, so the external communication amount of the UAV is large, resulting in more external information to be processed.

[0049] 2. The UAV relies heavily on planning algorithms, such as A Star algorithm, Dijkstra algorithm, RRT (Rapidly-exploring Random Tree) algorithm, neural network algorithm, etc., which require a large amount of operation. Some algorithms need to rely on existing data for learning and training to form a black box knowledge base, which cannot be evaluated clearly before operation.

[0050] To overcome the above technical problems, the embodiment of the present application provides a UAV control method based on a three-dimensional undirected graph, which first receives target point information of a ground control server; then calculates an expected path by using a depth-first algorithm according to the target point information and a three-dimensional undirected graph; the three-dimensional undirected graph is obtained by converting a 3D map, the three-dimensional undirected graph includes nodes and edges, the nodes are intersection points between different routes, the edges are connecting lines between different nodes, and each edge has a unique identifier; when a conflict ball exists in the expected path, a use right request of the conflict ball is sent to the ground control server, the use right request includes a driving-in direction, a driving-out direction and a UAV number, and the conflict ball is a three-dimensional display of the node; and finally, when receiving a conflict ball use right sent by the ground control server, flight is performed according to the expected path, and the conflict ball use right is used to indicate that the expected path does not have a path obstacle. In the above manner, the 3D map is preprocessed into route data described by nodes, edges and offset amounts, and then an expected path is calculated by using a UAV position and target point information, the calculation method is clear, definite and simple, the algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer, and the operation amount is extremely small compared with other UAV group path planning algorithms. Moreover, a centralized control manner is used, and the UAV communication channel and communication amount are reduced.

[0051] Referring to Figure 1 , Figure 1 A flowchart of the UAV control method based on a three-dimensional undirected graph provided by the embodiment of the present application is shown in FIG. 1.

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

[0053] The method can include the following steps.

[0054] Step S101: Receiving target point information of a ground control server.

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

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

[0057] In this embodiment, the UAV control device can calculate the desired path based on the target operation point location and the three-dimensional undirected graph, using a depth-first search algorithm.

[0058] Depth-First Search (DFS) is an algorithm used to traverse or search trees or graphs. In tree DFS, the algorithm starts from the root node and traverses the tree's nodes along its edges, searching the branches of the tree as deeply as possible. In graph DFS, the algorithm chooses a vertex as its starting point and explores the edges as deeply as possible until it reaches a vertex with no unexplored adjacent vertices. Then, it backtracks and explores the next vertex.

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

[0060] In this context, the boundaries, points of intersection between different elevations, and different flight paths within the operational scenario are called "nodes." The lines connecting the "nodes" are called "edges," and each edge has a unique number. Based on different elevation differences, the operational scenario can be divided into multiple layers of undirected graphs, with these layers connected by nodes.

[0061] The purpose of describing a 3D map using an undirected graph is that drones can achieve bidirectional operation by searching paths through the undirected graph.

[0062] like Figure 2 The diagram shown is an example of a three-dimensional undirected graph provided in an embodiment of this application.

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

[0064] Work points can also be described using "edge + offset". Small work areas can be described as a combination of "starting edge + starting offset; ending edge + ending offset", while large work areas can be described as a series of combinations of "edge + offset".

[0065] It should be noted that the embodiments of this application preprocess the 3D map into line data described by nodes, edges, and offsets, and then calculate the desired path using the UAV 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 UAV swarm path planning algorithms, the computational load is extremely small.

[0066] Step S103: When there is a conflict ball in the expected path, send a use right request of the conflict ball to the ground control server, the use right request including the driving-in direction, the driving-out direction and the UAV number, the conflict ball being a three-dimensional display of the node.

[0067] In this embodiment, after the expected path is calculated by step S102, when there is a conflict ball in the expected path, the UAV control device sends a use right request of the conflict ball to the ground control server, the use right request including the driving-in direction, the driving-out direction and the UAV number, the conflict ball being a three-dimensional display of the node.

[0068] It should be noted that when the three-dimensional undirected graph is obtained by converting the 3D map, the node is expanded into a conflict ball in the three-dimensional space, i.e. the conflict ball is a three-dimensional display of the node. The conflict ball is set to solve the conflict that may be caused by the intersection of the expected paths of different UAVs. The range of the conflict ball is related to the turning mode, the flight path angle, the correction offset, etc.

[0069] Step S104: When the use right of the conflict ball sent by the ground control server is received, fly according to the expected path, the use right of the conflict ball being used to indicate that there is no path obstacle in the expected path.

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

[0071] The use right of the conflict ball is used to indicate that there is no path obstacle in the expected path.

[0072] From the above technical solution can be seen, the embodiment of the 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 expected path is calculated by using the depth-first algorithm, the three-dimensional undirected graph is obtained by converting the 3D map, the three-dimensional undirected graph includes nodes and edges, the nodes are intersection points between different routes, the edges are connecting lines between different nodes, and each edge has a unique identifier; then, when the expected path has a conflict ball, a use right request of the conflict ball is sent to the ground control server, the use right request includes an entry direction, an exit direction and a UAV number, and the conflict ball is a three-dimensional display of the node; finally, when receiving the conflict ball use right sent by the ground control server, flight is performed according to the expected path, and the conflict ball use right is used to indicate that the expected path does not have a path obstacle. In the above manner, the 3D map is preprocessed into route data described by nodes, edges and offset, and then the expected path is calculated by using the UAV position and the target point information, the calculation method is clear, definite and simple, the algorithm complexity depends on the track layer number and the virtual track number on each layer, and the operation amount is extremely small compared with other UAV group path planning algorithms. Moreover, the centralized control manner reduces the UAV communication channel and communication amount.

[0073] It should be noted that the UAV autonomously calculates the moving authorization distance, that is, the distance that can be flown.

[0074] The premise of the moving authorization calculation is that in the expected path, the UAV itself judges that a specific path can be used to move from the current position to the terminal position, and there is no path obstacle in the way.

[0075] The obstacles in the moving authorization are other UAVs, conflict balls, path terminals and artificial protection zones, the other UAVs are "dynamic obstacles", the conflict balls and the path terminals are "static obstacles", which will be introduced below.

[0076] In a possible implementation manner, when the information that the conflict ball is occupied by other UAVs sent by the ground control server is received, the UAV is retreated to the outside of the conflict ball.

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

[0078] In a possible implementation manner, when the information that the expected path has an artificial protection zone sent by the ground control server is received, the entry into the artificial protection zone is prohibited.

[0079] In the embodiments of the present application, the ground control server sends the artificial protection zone in the expected path of the unmanned aerial vehicle to the unmanned aerial vehicle control device as a "static obstacle" so that the unmanned aerial vehicle control device controls the unmanned aerial vehicle to retract the movement authorization, and realizes the area access prohibition.

[0080] In a possible implementation, when the area temporary speed limit information sent by the ground control server is received, the area temporary speed limit information includes an area limit speed; and the unmanned aerial vehicle flies according to the area limit speed.

[0081] In the embodiments of the present application, the ground control server sends the area temporary speed limit information to the unmanned aerial vehicle in the area, and the area temporary speed limit information includes an area limit speed, so that the unmanned aerial vehicle flies at a low speed according to the area limit speed.

[0082] It can be understood that when the movement authorization distance is less than a preset distance threshold, the unmanned aerial vehicle will recalculate the expected path or wait for suspension, and the preset distance threshold can be set according to actual conditions, which is not limited herein.

[0083] In order to further realize the safe flight of the unmanned aerial vehicle, in a possible implementation, the method further includes:

[0084] obtaining a first longitude value, a first latitude value and a first altitude value of the unmanned aerial vehicle at a first time;

[0085] obtaining a second longitude value, a second latitude value and a second altitude value of the unmanned aerial vehicle at a second time, the second time being later than the first time;

[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] determining a safety envelope of the unmanned aerial vehicle according to the vector and a delay time of the unmanned aerial vehicle and the ground control server.

[0088] In the embodiments of the present application, in addition to converting the position (longitude, latitude, altitude) obtained by GPS or the position obtained by inertial navigation in the three-dimensional space reported by the unmanned aerial vehicle into a combination of "edge + offset", the deviation of the unmanned aerial vehicle in the X / Y / Z three directions from the edge, the speed of the X / Y / Z axis, the position deviation caused by the communication delay and the existing position uncertainty range need to be considered to ensure the safety distance between different unmanned aerial vehicles.

[0089] In the specific implementation, the present application converts P t、 P t、 P tThe position reported by the UAV at the current time is considered as the first longitude value, the first latitude value and the first altitude value of the UAV at the first time, Px is the longitude value of the UAV, Py is the latitude value of the UAV, and Pz is the altitude value of the UAV, Px t、 Py t、 Pz t A point that can be mapped to an edge is a combination of "edge + offset", such as [5, 2000], which is the edge numbered 5 with an offset of 2000 cm.

[0090] Px t+1 , Py t+1 , Pz t+1 The position reported by the UAV at the current time is considered as the first longitude value, the first latitude value and the first altitude value of the UAV at the first time, Px is the longitude value of the UAV, Py is the latitude value of the UAV, and Pz is the altitude value of the UAV, Px

[0091] The coordinates [Px t , Py t , Pz t ] and [Px t+1 , Py t+1 , Pz t+1 ] can be constructed into a vector, that is, a vector is 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 ) constitute

[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 form a safety envelope of the unmanned aerial vehicle, as shown in P1-P8 in FIG. 1, Figure 3 is an example schematic diagram of the safety envelope provided by the embodiment of the present application. Figure 3

[0104] In a possible implementation, when it is detected that there is another unmanned aerial vehicle in front, the unmanned aerial vehicle is withdrawn to the edge of the safety envelope of the unmanned aerial vehicle.

[0105] In the embodiment, when it is detected that there is another unmanned aerial vehicle in front, the unmanned aerial vehicle control device controls the unmanned aerial vehicle to withdraw to the edge of the safety envelope of the unmanned aerial vehicle, so as to ensure the safety distance between the unmanned aerial vehicles.

[0106] Next, the embodiment of the present application is described in a specific scene.

[0107] As shown in FIG. 1, Figure 4 ​As shown, it is an example schematic diagram of the mobile authorization conflict provided by the embodiment of the application.

[0108] As shown in FIG. 1, the UAV 1 is in the C1, and the UAV 2 is in the C2. Figure 4 As shown, the mobile authorization of the UAV 2 extends to the left side of the conflict ball C4, and the UAV 2 applies for the use right of C1 and C4, so the UAV 3 cannot apply for the use right of C1, and the mobile authorization end is withdrawn to the outside of C1.

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

[0110] The UAV 4 detects the UAV 3 in front, so the mobile authorization of the UAV 4 is withdrawn to the edge of the safety envelope of the UAV 3.

[0111] It can be understood that the embodiment of the application pre-processes the 3D map into node, edge and offset description line data, and then calculates the expected path through the UAV position and target point information. The calculation method is clear, definite and simple, and the algorithm complexity depends on the track layer number and the virtual track number on each layer. Compared with other UAV group path planning algorithms, the operation amount is extremely small. Moreover, through the centralized control mode, the UAV communication channel and communication amount are reduced.

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

[0113] When the expected path has a conflict ball, the first UAV sends a use right request of the conflict ball to the ground control server, the first UAV being the frontmost UAV in a UAV group composed of multiple UAVs;

[0114] The second UAV keeps a distance from the first UAV according to the safety envelope, the second UAV being a UAV in the UAV group except the first UAV;

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

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

[0117] Specifically, multiple UAVs can form a formation, and the frontmost UAV is used as a "team leader". The "team leader" applies for the use right of the conflict ball to the ground control server, the members in the formation track the "team leader", and keep a certain distance according to the safety envelope to avoid collision. When the UAV group drives away from the conflict ball, the "team leader" applies for the use right release of the conflict ball to the ground control server.

[0118] It can be understood that, by means of centralized control, the embodiments of the present application remove the communication among the unmanned aerial vehicle group members, greatly reduce the communication channels and communication volume, and increase the tolerance to communication interference, thereby improving the robustness and availability of the whole system.

[0119] For each of the foregoing method embodiments, for the sake of simple description, each is described as a combination of a series of actions, but those skilled in the art should appreciate that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should appreciate that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0120] The above are some specific implementation manners of the unmanned aerial vehicle control method based on a three-dimensional undirected graph provided by the embodiments of the present application. Based on this, the present application also provides a corresponding device. The unmanned aerial vehicle control device based on a three-dimensional undirected graph provided by the embodiments of the present application will be introduced from the perspective of functional modularization.

[0121] Referring to Figure 5 A structural schematic diagram of the unmanned aerial vehicle control device based on a three-dimensional undirected graph provided by the embodiments of the present application is shown in the figure, and the device comprises:

[0122] The receiving module 501 is configured to receive target point information of a ground control server.

[0123] The computing module 502 is configured to calculate an expected path by using a depth-first algorithm according to the target point information and a three-dimensional undirected graph, wherein the three-dimensional undirected graph is obtained by converting a 3D map, the three-dimensional undirected graph comprises nodes and edges, the nodes are intersection points between different routes, and each edge has a unique identifier.

[0124] The sending module 503 is configured to send a use right request of a conflict ball to the ground control server when there is a conflict ball in the expected path, wherein the use right request comprises a driving-in direction, a driving-out direction, and a unmanned aerial vehicle 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 expected path when receiving the conflict ball use right sent by the ground control server, wherein the conflict ball use right is used to indicate that there is no path obstacle in the expected path.

[0126] Optionally, the flight module 504 is further configured to retreat to the outside of the conflict ball when receiving the information that the conflict ball is occupied by other unmanned aerial vehicles sent by the ground control server.

[0127] Optionally, the flight module 504 is further configured to prohibit entering the artificial protection zone when the artificial protection zone information is received from the ground control server.

[0128] From the above technical solution, the embodiment of the 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 expected path is calculated by using the depth-first algorithm, the three-dimensional undirected graph is obtained by converting the 3D map, the three-dimensional undirected graph includes nodes and edges, the nodes are intersection points between different routes, the edges are connecting lines between different nodes, each edge has a unique identifier; then, when the expected path has a conflict ball, a use right request of the conflict ball is sent to the ground control server, the use right request includes an entering direction, an exiting direction and a UAV number, the conflict ball is a three-dimensional display of the node; finally, when the use right of the conflict ball is received from the ground control server, the flight is performed according to the expected path, and the use right of the conflict ball is used to indicate that the expected path does not have a path obstacle. In the above manner, the 3D map is preprocessed into node, edge and offset description line data, and then the expected path is calculated by using the UAV position and the target point information, the calculation method is clear, explicit and simple, the algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer, and the operation amount is extremely small compared with other UAV group path planning algorithms. Moreover, the centralized control manner reduces the UAV communication channel and communication amount.

[0129] The embodiment of the application further provides an electronic device, including: a memory, used for storing one or more programs;

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

[0131] The embodiment of the application further provides a computer storage medium, the computer storage medium stores a program, when the program is executed by a processor, the three-dimensional undirected graph based UAV control method in the above embodiment is implemented.

[0132] The "first", "second" in the names mentioned in the embodiment of the application are only used for name identification, and do not represent the first and second in the order.

[0133] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

[0134] Those skilled in the art can understand that the flowchart shown in the figure is only one 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 in any aspect by the flowchart.

[0135] In 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 above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0136] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. can be located in one place or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0137] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application which essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0138] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the appended claims are intended to cover all such modifications that do not depart from the true spirit and scope of the application. Therefore, the application is not limited to the embodiments shown but is to be accorded 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: receiving target point information of a ground control server; calculating an expected path according to the target point information and a three-dimensional undirected graph, the three-dimensional undirected graph being obtained by conversion of a 3D map, the three-dimensional undirected graph comprising nodes and edges, the nodes being intersection points between different routes, the edges being connecting lines between different nodes, and each edge having a unique identifier; when a conflict ball exists in the expected path, sending a use right request of the conflict ball to the ground control server, the use right request comprising a driving-in direction, a driving-out direction and a UAV number, the conflict ball being a three-dimensional display of the node; when receiving a conflict ball use right sent by the ground control server, flying according to the expected path, the conflict ball use right being used to indicate that the expected path has no path obstacle.

2. The method of claim 1, wherein, when receiving information that the conflict ball is occupied by other UAVs sent by the ground control server, retreating to the outside of the conflict ball.

3. The method of claim 1, wherein, when receiving information that the expected path has an artificial protection zone sent by the ground control server, prohibiting driving into the artificial protection zone.

4. The method of claim 1, wherein, The method further comprises: obtaining a first longitude value, a first latitude value and a first altitude value of a UAV at a first time; obtaining a second longitude value, a second latitude value and a second altitude value of the UAV at a second time, the second time being later than the first time; 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; determining a safety envelope of the UAV according to the vector and a delay time of the UAV and the ground control server.

5. The method of claim 4, wherein, when detecting that there is another UAV in front, retreating to the edge of the safety envelope of the UAV.

6. The method of claim 4, wherein, The method further comprises: when a conflict ball exists in an expected path, a first UAV sending a use right request of the conflict ball to a ground control server, the first UAV being a frontmost UAV in a UAV group composed of multiple UAVs; a second UAV keeping a distance from the first UAV according to the safety envelope, the second UAV being a UAV other than the first UAV in the UAV group; when receiving a conflict ball use right sent by the ground control server, the UAV group flying according to the expected path; when the UAV group drives away from the conflict ball, the first UAV sending a use right request release of the conflict ball to the ground control server.

7. The method of claim 1, wherein, when receiving regional temporary speed limit information sent by the ground control server, the regional temporary speed limit information comprising a regional limit speed; flying according to the regional limit speed.

8. A drone control device based on a three-dimensional undirected graph, characterized by, The device comprises: a receiving module configured to receive target point information of a ground control server; a calculating module configured to calculate an expected path according to the target point information and a three-dimensional undirected graph, the three-dimensional undirected graph being obtained by conversion of a 3D map, the three-dimensional undirected graph comprising nodes and edges, the nodes being intersection points between different routes, the edges being connecting lines between different nodes, and each edge having a unique identifier; The sending module is configured to send, to the ground control server, a use right request of a conflict ball when the conflict ball exists in the expected path, the use right request comprising an entry direction, an exit direction, and a UAV number, the conflict ball being a three-dimensional display of the node; The flight module is configured to fly according to the expected path when the conflict ball use right sent by the ground control server is received, the conflict ball use right being used to indicate that the expected path does not have a path obstacle.

9. The apparatus of claim 8, wherein, The flight module is further configured to retreat to an outside of the conflict ball when the information that the conflict ball is occupied by other UAVs sent by the ground control server is received.

10. The apparatus of claim 8, wherein, The flight module is further configured to prohibit entering an artificial protection area when the information that the expected path has the artificial protection area sent by the ground control server is received.

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