Intelligent unmanned aerial vehicle cluster cooperative task operation method

Abstract

The invention relates to the field of unmanned aerial vehicle cluster collaboration, in particular to an intelligent unmanned aerial vehicle cluster collaboration task operation method. The invention provides the intelligent unmanned aerial vehicle cluster cooperative task operation method capable of automatically adjusting the route according to the task importance. The method comprises the steps of performing initialization setting on each unmanned aerial vehicle of an unmanned aerial vehicle cluster based on an execution task; and based on the execution task, planning the collaborative airspace, carrying out initial route design on the collaborative airspace, and submitting the initial route design to the background server by the control end after the initial route design is completed. According to the method, the air route of the unmanned aerial vehicle cluster is analyzed through the background server, the air route is automatically optimized and adjusted based on the flight air routes of other unmanned aerial vehicle clusters in the same area and the same time period, and the safety of the unmanned aerial vehicle cluster during actual execution of the cooperative task is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) cluster collaboration, and in particular to an intelligent unmanned aerial vehicle (UAV) cluster collaborative task operation method. Background Art

[0002] An intelligent drone swarm refers to a network composed of multiple drones with autonomous decision-making capabilities. They work together through communication and control systems to perform various tasks and have good autonomy, coordination and robustness.

[0003] However, in the actual use of intelligent drone swarms, the autonomous decision-making algorithms of drones are often not smart enough when faced with complex tasks, and it is difficult to make optimal decisions. This results in unsatisfactory flight trajectories and reduced efficiency when performing collaborative tasks. Drone swarms may even conflict when working collaboratively, leading to equipment damage and mission failure. Summary of the invention

[0004] (1) Technical issues to be resolved

[0005] In order to overcome the shortcoming that intelligent drone clusters are difficult to make reasonable route planning when performing collaborative tasks, the technical problem to be solved by the present invention is to provide an intelligent drone cluster collaborative task operation method that can automatically adjust the route according to the importance of the task.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, the present invention provides such an intelligent UAV cluster collaborative task operation method, the method comprising:

[0008] S101: Based on the execution mission, each drone in the drone cluster is initialized, including the drone cluster number, drone number, initial coordinates, flight level weight, and flight safety distance;

[0009] S102: Based on the execution mission, the coordinated airspace is planned, and based on the initial setting of the drone cluster, the initial route design is performed for the coordinated airspace. After the initial route design is completed, the control end submits it to the backend server for further optimization and review;

[0010] S103: The backend server automatically adjusts the initial route design by comparing the flight routes of other drone clusters in the coordinated airspace during the same time period, and submits the adjusted initial route design reference to the control end. The user modifies the initial route design through the control end based on the route design reference and submits it to the backend server again until the route design meets the flight conditions;

[0011] S104: The user starts the drone cluster through the control terminal in the collaborative airspace during the specified time period of the task. The background server sends the route to the drone cluster in real time through the control terminal, so that the drone cluster flies according to the route to perform the collaborative task. When the drone encounters an obstacle during flight, it will adjust the route by itself and send the adjusted route to the control terminal in real time, and promptly remind the user of the route change;

[0012] S105: After the drone cluster completes the collaborative task, the drones will depart from their respective real-time locations and fly back to the recovery point on their own, completing the recovery of the drone cluster.

[0013] Preferably, the initial route design for the collaborative airspace includes the following steps:

[0014] S111: The user selects the key coordinates that the drone must pass through through the control terminal, and the control terminal generates a basic route based on the key coordinates;

[0015] S112: The user adjusts the basic route until it meets the needs of drone cluster flight to perform collaborative tasks.

[0016] Preferably, the backend server automatically adjusts the initial route design by comparing the flight routes of other drone clusters in the coordinated airspace during the same time period, specifically including the following steps:

[0017] S121: After receiving the initial route design, the backend server extracts the flight routes of other UAVs that take off in the same coordinated airspace and at the same time period, and approximates them with the UAV route designed initially to generate broken line segments, wherein the broken line segments generated by the UAV route designed initially are adjustment broken line segments, and the broken line segments extracted and generated by the flight routes of other UAVs are control broken line segments, and both the adjustment broken line segments and the control broken line segments are composed of multiple straight line segments;

[0018] S122: Define the vector function from a straight line segment to a point :

[0019]

[0020] in, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment;

[0021] S123: Define distance function :

[0022]

[0023] in, Indicates coordinate points The coordinates at both ends are and The distance of the straight line segment, It means taking the minimum value among all the results. Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment;

[0024] S124: By traversing and adjusting the distances from all vertices of the polyline segment to the straight line segments in all the reference polyline segments, it is possible to determine whether the route design meets the flight requirements;

[0025] S125: Define coordinate adjustment function :

[0026]

[0027] in, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe flight distance of the UAV, the coordinate point The shortest vector that needs to be moved, It represents the difference between the distance from one vertex of the polyline segment to the straight line segment and the safe flight distance of the drone. represents the coordinates of one of the vertices of the polyline segment, Indicates the coordinates of one of the endpoints of a straight line segment of the reference polyline segment. Indicates the coordinates of the other endpoint of one of the straight line segments of the reference polyline segment. Indicates coordinate points The coordinates at both ends are and S126: By traversing all the vertices of the adjusted broken line segment, the distances between the vertices of the adjusted broken line segment and all the reference broken line segments are compared with the safe flight distance of the UAV. When the distances between the vertices of the adjusted broken line segment and the straight line segments of all the reference broken line segments do not meet the safe flight distance of the UAV, the coordinates of the vertex are adjusted along the direction of the distance vector until the distances between the adjusted vertex and all the reference broken line segments meet the safe flight distance of the UAV.

[0028] Preferably, the background server sends the route to the drone cluster in real time through the control end, which specifically includes the following steps: the control end sends a request for task execution to the background server, and after receiving the request, the background server returns the route data of the drone cluster in the form of a vertex coordinate set, and after receiving the route data, the control end sends each group of drone route data to its corresponding drone.

[0029] Preferably, the drone cluster flies according to the route to perform collaborative tasks, which specifically includes the following steps: after receiving the drone route data, the drone will move to the next coordinate point in the route and perform the flight mission. Every time the drone arrives at a coordinate point, it will send a heartbeat packet to the control end. The content of the heartbeat packet includes the drone cluster number, drone number, drone power, arrived coordinate point, current drone coordinates and drone flight speed. If the drone does not send a heartbeat packet within a specified time period, it is determined that the drone has a flight abnormality or communication failure. The control end reminds the user of the drone abnormality and sends a coordination request to other drones, so that after receiving the coordination request, other drones stop the current task according to the flight level weight and change to perform the task of the lost drone.

[0030] Preferably, after receiving the coordination request, other drones stop the current mission according to the flight level weight and perform the mission of the lost drone instead, which specifically includes the following steps:

[0031] S131: When the UAV receives a coordination request, it will compare the flight level weight of the lost UAV with its own flight level weight. If the flight level weight of the lost UAV is higher, it will send a coordination packet to the control end, otherwise it will send a coordination refusal packet to the control end;

[0032] S132: Define the drone screening formula as:

[0033]

[0034] in, To filter the priority, is the distance weight of the current UAV to the new mission route, The coordinate point of the last heartbeat packet sent by the lost drone. The coordinates of the current drone sent by the latest heartbeat packet. The flight level weight of the current drone;

[0035] S133: After receiving the information packet sent by the drone that can be coordinated, the control end will store the drone's data in the coordinated set. After receiving the information packets sent by all contactable drones, the control end will screen the drone in the coordinated set, determine the drone with the highest screening level through the drone screening formula, and send a coordination execution request to the drone;

[0036] S134: After receiving the coordination execution request, the drone will stop the current task and modify the flight weight of the drone and the next coordinate point to be reached;

[0037] S135: After the coordinated UAV arrives at the new coordinate point, it will send a route change request to the control end;

[0038] S136: After receiving the route change request from the drone, the control end will send the subsequent route of the lost drone sent by the background server to the coordinated drone, so that it can execute the mission of the lost drone.

[0039] Preferably, the drone will adjust its route when encountering an obstacle during flight, specifically including the following steps: the drone detects obstacles that may collide with the route in a short period of time through its own sensors, and determines whether the obstacle is a drone belonging to the same drone cluster, and determines whether a collision will occur through the Euclidean distance between the drone and the obstacle. If the drone collides with the obstacle, and the obstacle is not a drone from the same drone cluster, the position of the next arrival coordinate is adjusted through the above-mentioned coordinate adjustment function, wherein the obstacle can be regarded as a straight line segment or a set of straight line segments according to its impact on the route. Based on the adjustment of the position of the next arrival coordinate, the subsequent arrival coordinates need to be synchronously attenuated until one of the subsequent arrival coordinates does not maintain a safe flight distance from the obstacle; the attenuation adjustment formula of the subsequent coordinates is:

[0040]

[0041] in Indicates that the subsequent The vector to be adjusted for the arrival coordinates, n represents the number of subsequent arrival coordinates, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe distance of the drone, the coordinate point The shortest vector that needs to be moved, is the original position of the subsequent arrival coordinates, They are respectively the coordinates of the two ends of the straight line segment generated based on the obstacle.

[0042] Preferably, if a UAV is about to collide with an obstacle in a short period of time, and the obstacle is a UAV in the same UAV cluster, both UAVs will send a request for avoidance to the control end, and the control end will compare the flight level weights of the two UAVs and send an avoidance permission to the UAV with the lower flight level weight. If the flight level weights of the two UAVs are the same, avoidance permission will be sent to both UAVs at the same time. The UAV that receives the avoidance permission will perform a route adjustment action to ensure the mission efficiency of the UAV with a high flight weight.

[0043] Preferably, the UAV sends the adjusted route to the control end in real time to promptly remind the user of the route change, which specifically includes the following steps: the UAV sends the subsequent new arrival coordinates to the control end, the control end adjusts the route according to the received new arrival coordinates, highlights the route section in the control end, and records it in the collaborative task log, so as to facilitate timely analysis of the route when an abnormality occurs in the collaborative task operation.

[0044] Preferably, after the collaborative task operation of the drone cluster is completed, the drones will depart from their respective real-time locations and fly back to the recovery point on their own, which specifically includes the following steps:

[0045] S141: After the drone cluster completes the collaborative task, the flight level weight of its drone becomes the lowest level, and a drone cluster recovery request is sent to the control end;

[0046] S142: After receiving the drone cluster recovery request, the control end sends the coordinates of the drone cluster and the recovery point coordinates to the background server;

[0047] S143: Based on the flight routes of other drones taking off in the same coordinated airspace and at the same time period, the background server uses the coordinates of the drone cluster and the recovery point as the starting point and end point of the route, generates a simple recovery route through a path-finding algorithm, and sends it to the drone cluster through the control terminal;

[0048] S144: The drone cluster goes to the recovery point according to a simple recovery route to achieve drone cluster recovery.

[0049] (3) Beneficial effects

[0050] The beneficial effects of the present invention are:

[0051] 1. The present invention analyzes the flight routes of the drone cluster through the background server, and automatically optimizes and adjusts the flight routes based on the flight routes of other drone clusters in the same area and the same time period, thereby improving the safety of the drone cluster when actually performing collaborative tasks;

[0052] 2. The present invention detects the flight status of the drone through the heartbeat packet. If the drone loses contact with the control end, the drone with a lower flight level weight will go to the lost drone and replace it to perform the unfinished collaborative task, so as to ensure the smooth progress of the collaborative task operation, improve the reliability of the drone cluster in performing the collaborative task, and due to the timely cooperation of the drones with low flight level weight, improve the anti-interference ability of the drone cluster in performing the collaborative task;

[0053] 3. The present invention allows drones with low or equal flight level weights to give way in time when two drones are about to collide, thereby ensuring that drones with high flight level weights can complete cooperative missions in a timely manner, thereby improving the execution efficiency and reliability of drone cluster cooperative missions;

[0054] 4. The present invention determines that a large obstacle is a flight path of multiple flying objects when the drone determines an obstacle, so that the drone's calculation method when avoiding obstacles is compatible with the method of determining flight path conflicts, and the obstacle analysis data is converted from a three-dimensional grid to a two-dimensional broken line, which effectively reduces the huge amount of calculation required by the drone when analyzing collisions and improves the drone's calculation efficiency when adjusting its flight path. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a flow chart of the intelligent UAV cluster collaborative task operation method of the present invention;

[0056] Figure 2 A flow chart of automatic adjustment of route design by the backend server of the present invention;

[0057] Figure 3 The figure is a flow chart of the coordination work when the UAV of the present invention loses connection. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0059] Example 1

[0060] A method for collaborative task operation of intelligent drone clusters, such as Figure 1 As shown, the method comprises the following steps:

[0061] S101: Based on the execution mission, each drone in the drone cluster is initialized, including the drone cluster number, drone number, initial coordinates, flight level weight, and flight safety distance.

[0062] A drone swarm refers to a group of drones that work together to complete a specific task. Reasonable initialization helps the drone swarm play the correct role in collaborative operations and work together in the most efficient way.

[0063] Specifically, the drone cluster number is a unique cluster number assigned to the entire drone cluster, which is used to distinguish different drone clusters. Especially when multiple drone clusters are operating at the same time, the unique cluster number can prevent coordination confusion when the drone cluster collaborates.

[0064] Specifically, the drone number is a unique number assigned to a drone in a drone cluster, which can be used to quickly identify and specify a specific drone during cluster communication and task allocation.

[0065] Specifically, the initial coordinates are the reference point and take-off point of the entire drone cluster. The specific route of the drone needs to be based on the initial coordinates, and it is convenient for drones to identify their relative positions to ensure that the drone cluster can smoothly carry out collaborative tasks without collision.

[0066] Specifically, the flight level weight is a parameter of the importance of the UAV's mission when performing a mission. UAVs with high flight level weights perform the core part of collaborative tasks, while UAVs with low flight level weights provide assistance to UAVs with high flight level weights or perform secondary parts of collaborative tasks. UAVs with high flight level weights will have higher decision-making authority. In order to facilitate the setting of weights, the higher the flight level weight, the lower its parameter value, and the lowest parameter value is 1.

[0067] Specifically, the flight safety distance is a prerequisite for the safe flight of drones. When flying in a cluster, drones need to maintain a distance of at least the flight safety distance to ensure that the drones do not collide during flight, thereby ensuring the overall safety of the entire drone cluster.

[0068] S102: Based on the execution mission, the collaborative airspace is planned, and based on the initial settings of the drone cluster, the initial route design for the collaborative airspace is performed. After the initial route design is completed, it is submitted by the control end to the background server for further optimization and review.

[0069] Specifically, the control end is an electronic device that can communicate wirelessly with a drone cluster, and has a control unit, a processing unit, a storage unit, a display unit, a communication unit and a power supply. It is foreseeable that the control end can be an existing electronic device such as a mobile PC, an electronic tablet, a smart phone, etc., so it will not be elaborated.

[0070] Specifically, the background server is the data processing and storage center of the UAV system, responsible for recording UAV information, mission management, route analysis and data distribution to ensure that the UAV cluster can successfully complete its mission.

[0071] Specifically, before performing collaborative tasks, the drone cluster must first analyze the mission requirements, type, region, and time in order to divide the collaborative airspace, determine the boundaries of the airspace, the drone's flight altitude range, the drone's take-off point, the drone's recovery point, the drone's emergency landing point and other mission parameters, and based on the initialization settings of the drone cluster, design routes for the divided airspace, including drone flight parameters such as flight path, flight altitude, flight speed, and communication frequency. After the route design is completed, it is submitted to the background server through the control terminal, and the background server performs safety audits on the routes, route conflict detection, and mission backups.

[0072] like Figure 2 As shown in the figure, the initial route design for the collaborative airspace includes the following steps:

[0073] S111: The user selects the key coordinates that the drone must pass through through the control terminal, and the control terminal generates a basic route based on the key coordinates;

[0074] S112: The user adjusts the basic route until it meets the needs of drone cluster flight to perform collaborative tasks.

[0075] S103: The backend server automatically adjusts the initial route design by comparing it with the flight routes of other drone clusters in the coordinated airspace during the same time period, and submits the adjusted initial route design reference to the control end. The user modifies the initial route design through the control end based on the route design reference and submits it to the backend server again until the route design meets the flight conditions.

[0076] Specifically, after receiving the designed flight route, the background server must first perform route conflict detection and comparative analysis on the route, identify potential route conflicts and safety hazards in the design of the route, and generate an automatically optimized flight route based on the analysis results to avoid flight altitude conflicts or violations of airspace flight rules. The auditor reviews the optimized flight route. If the review is passed, the auditor will return the optimized flight route to the control end as a route design reference. The user receives the route design reference at the control end, analyzes the route design reference, and adjusts the route of the drone cluster in time according to the task requirements, and makes necessary modifications to the flight data of the route. After the modification is completed, the user should submit the route design through the control end again. After the background server analyzes the drone route, if the route has no obvious optimization space, it will be submitted to the auditor for review. After the auditor passes the review, the route can be used to execute the collaborative task of the drone cluster. Otherwise, the auditor of the background server will send the route design reference to the control end again until the task is cancelled or the route meets the flight conditions.

[0077] The backend server automatically adjusts the initial flight route design by comparing the flight routes of other drone clusters in the coordinated airspace during the same time period. The specific steps include:

[0078] S121: After receiving the initial route design, the backend server extracts the flight routes of other UAVs that take off in the same coordinated airspace and at the same time period, and approximates them with the UAV route designed initially to generate broken line segments, wherein the broken line segments generated by the UAV route designed initially are adjustment broken line segments, and the broken line segments extracted and generated by the flight routes of other UAVs are control broken line segments, and both the adjustment broken line segments and the control broken line segments are composed of multiple straight line segments;

[0079] S122: Define the vector function from a straight line segment to a point :

[0080]

[0081] in, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment;

[0082] S123: Define distance function :

[0083]

[0084] in, Indicates coordinate points The coordinates at both ends are and The distance of the straight line segment, It means taking the minimum value among all the results. Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment;

[0085] S124: By traversing and adjusting the distances from all vertices of the polyline segment to the straight line segments in all the reference polyline segments, it is possible to determine whether the route design meets the flight requirements;

[0086] S125: Define coordinate adjustment function :

[0087]

[0088] in, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe flight distance of the UAV, the coordinate point The shortest vector that needs to be moved, It represents the difference between the distance from one vertex of the polyline segment to the straight line segment and the safe flight distance of the drone. represents the coordinates of one of the vertices of the polyline segment, Indicates the coordinates of one of the endpoints of a straight line segment of the reference polyline segment. Indicates the coordinates of the other endpoint of one of the straight line segments of the reference polyline segment. Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment;

[0089] S126: By traversing all the vertices of the adjusted broken line segment, the distances between the vertex of the adjusted broken line segment and all the reference broken line segments are compared with the safe flight distance of the UAV. When the distance between the vertex of the adjusted broken line segment and the straight segments of all the reference broken line segments does not meet the safe flight distance of the UAV, the coordinates of the vertex are adjusted along the direction of the distance vector until the distances between the adjusted vertex and all the reference broken line segments meet the safe flight distance of the UAV.

[0090] S104: The user starts the drone cluster through the control terminal in the collaborative airspace during the specified time period of the mission. The background server sends the route to the drone cluster in real time through the control terminal, so that the drone cluster flies according to the route to perform collaborative mission operations. When the drone encounters an obstacle during flight, it will adjust the route automatically and send the adjusted route to the control terminal in real time, and promptly remind the user of the route change.

[0091] Specifically, before executing a mission, users should conduct a systematic inspection of the drone cluster to ensure that all drones are in good working condition before flight, including battery power, sensor functions, communication equipment, etc., to avoid abnormalities in the drone cluster when performing a flight mission, which may lead to low efficiency of the drone cluster's collaborative mission or even mission failure.

[0092] Specifically, the user sends a start command to the drone cluster through the control terminal at the take-off point during the specified time period of the mission. After receiving the command, the drone cluster will take off and perform flight calibration. After the flight calibration is completed, the drone will fly to the predetermined route. At this time, the user should monitor the flight process of the drone cluster in real time to ensure that no abnormalities or other emergency accidents occur during the flight.

[0093] Specifically, in order to ensure that the UAV is consistent with the route during flight, the route is split into broken line segments, and the route coordinates are transmitted to the UAV in the form of broken line segment vertex coordinate groups. The UAV compares its own coordinates with the vertex coordinates of the straight line segment, and then adjusts its own position in time.

[0094] The background server sends the route to the drone cluster in real time through the control end, which specifically includes the following steps: the control end sends a request for task execution to the background server, and after receiving the request, the background server returns the route data of the drone cluster in the form of a vertex coordinate set. After receiving the route data, the control end sends each group of drone route data to their corresponding drones.

[0095] Specifically, when a drone cluster is performing collaborative operations, a drone may lose connection due to signal interference, electromagnetic pulse attack, etc. When the lost drone has a high flight level weight, it will seriously affect the efficiency of the drone's collaborative task operation. To ensure that the loss of drone connection can be discovered in time, the drone is required to send a heartbeat packet to the control end every 30 seconds. The heartbeat packet is a communication method that detects whether the drone maintains a signal connection with the control end. The control end can detect the current flight status of the drone and whether the drone has a malfunction by analyzing the data contained in the heartbeat packet.

[0096] Specifically, when it is detected that a drone with a higher flight level weight has lost contact, in order to ensure the smooth progress of the drone cluster collaborative mission, the control end will send mission adjustment data files to all drones. Drones with lower flight level weights and closer to the target route will take over the lost drone to perform collaborative tasks. Among them, when evaluating whether a drone should adjust its mission, the weight of its flight level occupies a more significant priority evaluation position than the flight distance required to reach the target location.

[0097] like Figure 3As shown, the drone cluster flies according to the route to perform collaborative tasks, which specifically includes the following steps: after receiving the drone route data, the drone will move to the next coordinate point in the route and perform the flight mission. Every time the drone arrives at a coordinate point, it will send a heartbeat packet to the control end. The content of the heartbeat packet includes the drone cluster number, drone number, drone power, arrived coordinate point, current drone coordinates and drone flight speed. If the drone does not send a heartbeat packet within the specified time period, it is determined that the drone has a flight abnormality or communication failure. The control end reminds the user of the drone abnormality and sends a coordination request to other drones, so that other drones stop the current task according to the flight level weight after receiving the coordination request, and instead perform the task of the lost drone.

[0098] After receiving the coordination request, other drones stop their current missions according to their flight level weights and start to perform the mission of the lost drone, which includes the following steps:

[0099] S131: When the UAV receives a coordination request, it will compare the flight level weight of the lost UAV with its own flight level weight. If the flight level weight of the lost UAV is higher, it will send a coordination packet to the control end, otherwise it will send a coordination refusal packet to the control end;

[0100] S132: Define the drone screening formula as:

[0101]

[0102] in, To filter the priority, is the distance weight of the current UAV to the new mission route, The coordinate point of the last heartbeat packet sent by the lost drone. The coordinates of the current drone sent by the latest heartbeat packet. It is the flight level weight of the current UAV.

[0103] S133: After receiving the information packet sent by the drone that can be coordinated, the control end will store the drone's data in the coordinated set. After receiving the information packets sent by all contactable drones, the control end will screen the drone in the coordinated set, determine the drone with the highest screening level through the drone screening formula, and send a coordination execution request to the drone;

[0104] S134: After receiving the coordination execution request, the drone will stop the current task and modify the flight weight of the drone and the next coordinate point to be reached;

[0105] S135: After the coordinated UAV arrives at the new coordinate point, it will send a route change request to the control end;

[0106] S136: After receiving the route change request from the drone, the control end will send the subsequent route of the lost drone sent by the background server to the coordinated drone, so that it can execute the mission of the lost drone.

[0107] Specifically, drones may encounter other emergencies during flight, such as obstacles, other flying objects intruding into the coordinated airspace, etc., which may affect the normal operation of the drone cluster. In this regard, drones need to use sensors to promptly identify the position and size of obstacles and flying objects. For larger objects, they are split into routes of multiple small flying objects, which facilitates the drones to perform obstacle avoidance analysis and route adjustments.

[0108] When a drone encounters an obstacle during flight, it will adjust its route by itself. The specific steps include the following: the drone uses its own sensors to detect obstacles that may collide with the route in a short period of time, and determines whether the obstacle belongs to the same drone cluster. It determines whether a collision will occur based on the Euclidean distance between the drone and the obstacle. If the drone collides with the obstacle, and the obstacle is not a drone in the same drone cluster, the above coordinate adjustment function is used. Adjust the position of the next arrival coordinate, where the obstacle can be regarded as a straight line segment or a collection of straight line segments according to its impact on the route. Based on the adjustment of the position of the next arrival coordinate, the subsequent arrival coordinates need to be synchronously attenuated until one of the subsequent arrival coordinates does not maintain a safe flight distance from the obstacle;

[0109] The attenuation adjustment formula for subsequent coordinates is:

[0110]

[0111] in Indicates that the subsequent The vector to be adjusted for the arrival coordinates, n represents the number of subsequent arrival coordinates, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe distance of the drone, the coordinate point The shortest vector that needs to be moved, is the original position of the subsequent arrival coordinates, They are respectively the coordinates of the two ends of the straight line segment generated based on the obstacle.

[0112] If a drone is about to collide with an obstacle within a short period of time, and the obstacle is a drone in the same drone cluster, both drones will send a request for avoidance to the control end. The control end will compare the flight level weights of the two drones and send an avoidance permission to the drone with the lower flight level weight. If the flight level weights of the two drones are the same, avoidance permission will be sent to both drones at the same time. The drone that receives the avoidance permission will perform route adjustment actions to ensure the mission efficiency of the drone with a high flight weight.

[0113] Specifically, when a drone's route changes due to obstacles or flying objects, the drone's collaborative mission operations will inevitably be affected. Modifications to the drone's route may cause the drone's execution of its operations to be delayed, thereby affecting the collaborative mission operations of other drones, causing the drone cluster to complete the entire mission later when performing a collaborative mission. In addition, when a drone cluster is performing a collaborative mission, its flight route needs to be backed up in real time so that correct analysis can be obtained when problems arise in the execution of the collaborative mission.

[0114] The UAV sends the adjusted route to the control end in real time to promptly remind the user of the route change, which specifically includes the following steps: the UAV sends the subsequent new arrival coordinates to the control end, and the control end adjusts the route based on the received new arrival coordinates, highlights the route section in the control end, and records it in the collaborative task log to facilitate timely analysis of the route when an abnormality occurs in the collaborative task operation.

[0115] S105: After the drone cluster completes the collaborative task, the drones will depart from their respective real-time locations and fly back to the recovery point on their own to complete the recovery of the drone cluster.

[0116] Specifically, after completing the collaborative mission, the drone cluster will return to the recovery point according to the planned return route. During the entire return process, the drone cluster will judge the possible obstacles and adjust the route trajectory in real time to ensure the safety of the route.

[0117] After the collaborative mission is completed, the drone cluster will fly back to the recovery point by itself, which includes the following steps:

[0118] S141: After the drone cluster completes the collaborative task, the flight level weight of its drone becomes the lowest level, and a drone cluster recovery request is sent to the control end;

[0119] S142: After receiving the drone cluster recovery request, the control end sends the coordinates of the drone cluster and the recovery point coordinates to the background server;

[0120] S143: Based on the flight routes of other drones taking off in the same coordinated airspace and at the same time period, the background server uses the coordinates of the drone cluster and the recovery point as the starting point and end point of the route, generates a simple recovery route through a path-finding algorithm, and sends it to the drone cluster through the control terminal;

[0121] S144: The drone cluster goes to the recovery point according to a simple recovery route to achieve drone cluster recovery.

[0122] Specifically, after the drone is recovered, the user needs to inspect, maintain and charge the drone in preparation for the next collaborative mission of the drone cluster, thereby reducing the loss of drone use.

[0123] The above-mentioned embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person skilled in the art, several modifications, improvements and substitutions can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A method for collaborative task operation of intelligent drone swarm, characterized in that: The method comprises: S101: initializing settings for each drone in the drone cluster based on the execution of the mission, including the drone cluster number, drone number, initial coordinates, flight level weight and flight safety distance; S102: planning the collaborative airspace based on the execution of the mission, and performing initial route design for the collaborative airspace based on the initial settings of the drone cluster, and submitting the initial route design to the backend server for further optimization and review after the initial route design is completed; S103: the backend server automatically adjusts the initial route design by comparing the flight routes of other drone clusters in the same time period in the collaborative airspace, and submits the adjusted initial route design reference to the control end, and the user is based on the initial route design. With reference to the route design, the initial route design is modified through the control end and submitted to the background server again until the route design meets the flight conditions; S104: The user starts the drone cluster through the control end in the collaborative airspace during the specified time period of the task. The background server sends the route to the drone cluster in real time through the control end, so that the drone cluster flies according to the route to perform collaborative tasks. When the drone encounters obstacles during flight, it will adjust the route by itself, and send the adjusted route to the control end in real time, and promptly remind the user of the route change; S105: After the collaborative task is completed, the drones will depart from their respective real-time locations and fly back to the recovery point by themselves to complete the recovery of the drone cluster.

2. The method for collaborative task operation of intelligent drone swarm according to claim 1, characterized in that: The initial route design for the collaborative airspace includes the following steps: S111: The user selects the key coordinates that the drone's route must pass through through the control terminal, and the control terminal generates a basic route based on the key coordinates; S112: The user adjusts the basic route until it meets the needs of the drone cluster flight to perform collaborative tasks.

3. The method for collaborative task operation of intelligent drone swarm according to claim 1, characterized in that: The backend server automatically adjusts the initial route design by comparing the flight routes of other drone clusters in the same time period in the collaborative airspace, which specifically includes the following steps: S121: After receiving the initial route design, the backend server extracts the flight routes of other drones that take off in the same collaborative airspace and in the same time period, and approximates them with the initially designed drone routes to generate broken line segments, wherein the broken line segments generated by the initially designed drone routes are adjustment broken line segments, and the broken line segments extracted and generated by other drone flight routes are control broken line segments, and both the adjustment broken line segments and the control broken line segments are composed of multiple straight line segments; S122: Define a straight line segment to point vector function : ； in, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment; S123: Define distance function : ； in, Indicates coordinate points The coordinates at both ends are and The distance of the straight line segment, It means taking the minimum value among all the results. Indicates adjusting the coordinates of a vertex in a polyline segment. and Respectively represent the coordinates of the two ends of a straight line segment in the reference polyline segment, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment; S124: By traversing and adjusting the distances from all vertices of the polyline segment to the straight line segments in all the reference polyline segments, it is possible to determine whether the route design meets the flight requirements; S125: Define coordinate adjustment function : ； in, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe flight distance of the UAV, the coordinate point The shortest vector that needs to be moved, It represents the difference between the distance from one vertex of the polyline segment to the straight line segment and the safe flight distance of the drone. represents the coordinates of one of the vertices of the polyline segment, Indicates the coordinates of one of the endpoints of one of the straight line segments of the reference polyline segment. Indicates the coordinates of the other endpoint of one of the straight line segments of the reference polyline segment. Indicates coordinate points The coordinates at both ends are and S126: By traversing all the vertices of the adjusted broken line segment, the distances between the vertices of the adjusted broken line segment and all the reference broken line segments are compared with the safe flight distance of the UAV. When the distances between the vertices of the adjusted broken line segment and the straight line segments of all the reference broken line segments do not meet the safe flight distance of the UAV, the coordinates of the vertex are adjusted along the direction of the distance vector until the distances between the adjusted vertex and all the reference broken line segments meet the safe flight distance of the UAV.

4. The method for performing collaborative tasks of an intelligent drone swarm according to claim 1, characterized in that: The background server sends the route to the drone cluster in real time through the control end, which specifically includes the following steps: the control end sends a request for task execution to the background server, and after receiving the request, the background server returns the route data of the drone cluster in the form of a vertex coordinate set. After receiving the route data, the control end sends each group of drone route data to their corresponding drones.

5. The method for collaborative task operation of intelligent drone swarm according to claim 1, characterized in that: The drone cluster flies according to the route to perform collaborative tasks, which specifically includes the following steps: after receiving the drone route data, the drone will move to the next coordinate point in the route and perform the flight mission. Every time the drone arrives at a coordinate point, it will send a heartbeat packet to the control end. The content of the heartbeat packet includes the drone cluster number, drone number, drone power, arrived coordinate point, current drone coordinates and drone flight speed. If the drone does not send a heartbeat packet within the specified time period, it is determined that the drone has a flight abnormality or communication failure. The control end reminds the user of the drone abnormality and sends a coordination request to other drones, so that other drones stop the current task according to the flight level weight after receiving the coordination request, and instead perform the task of the lost drone.

6. The method for performing collaborative tasks of an intelligent drone swarm according to claim 5, characterized in that: After receiving the coordination request, other drones stop the current task according to the flight level weight and perform the task of the lost drone instead, which specifically includes the following steps: S131: When receiving the coordination request, the drone will compare the flight level weight of the lost drone with its own flight level weight. If the flight level weight of the lost drone is higher, it will send a coordination-enabled information packet to the control end, otherwise it will send a coordination-rejecting information packet to the control end; S132: Define the drone screening formula as: ； in, To filter the priority, is the distance weight of the current UAV to the new mission route, The coordinate point of the last heartbeat packet sent by the lost drone. The coordinates of the current drone sent by the latest heartbeat packet. is the flight level weight of the current UAV; S133: after the control end receives the information packet sent by the UAV that can be coordinated, it will store the UAV data in the coordinable set. After receiving the information packets sent by all contactable UAVs, the control end will screen the coordinable set, determine the UAV with the highest screening level through the UAV screening formula, and send a coordination execution request to the UAV; S134: after receiving the coordination execution request, the UAV will stop the current task, and modify the flight weight of the UAV and the next coordinate point to be reached; S135: after arriving at the new coordinate point, the coordinated UAV will send a route change request to the control end; S136: after receiving the route change request of the UAV, the control end will send the subsequent route of the lost UAV sent by the background server to the UAV that accepts coordination, so that it can execute the task of the lost UAV.

7. The method for performing collaborative tasks of an intelligent drone swarm according to claim 1, characterized in that: When a drone encounters an obstacle during flight, it will adjust its route by itself, specifically including the following steps: the drone detects obstacles that may collide with the route in a short period of time through its own sensors, and determines whether the obstacle is a drone belonging to the same drone cluster. It determines whether a collision will occur by the Euclidean distance between the drone and the obstacle. If the drone collides with the obstacle, and the obstacle is not a drone from the same drone cluster, the position of the next arrival coordinate is adjusted by the above-mentioned coordinate adjustment function, where the obstacle can be regarded as a straight line segment or a set of straight line segments according to its impact on the route. Based on the adjustment of the position of the next arrival coordinate, the subsequent arrival coordinates need to be synchronously attenuated until one of the subsequent arrival coordinates does not maintain a safe flight distance with the obstacle; the attenuation adjustment formula for the subsequent coordinates is: ； in Indicates that the subsequent The vector to be adjusted for the arrival coordinates, n represents the number of subsequent arrival coordinates, Indicates coordinate points The coordinates at both ends are and The distance vector of the straight line segment, Indicates coordinate points The coordinates at both ends are and When the distance of the straight line segment is the safe distance of the drone, the coordinate point The shortest vector that needs to be moved, is the original position of the subsequent arrival coordinates, They are respectively the coordinates of the two ends of the straight line segment generated based on the obstacle.

8. The method for performing collaborative tasks of an intelligent drone swarm according to claim 7, characterized in that: If a drone is about to collide with an obstacle within a short period of time, and the obstacle is a drone in the same drone cluster, both drones will send a request for avoidance to the control end. The control end will compare the flight level weights of the two drones and send an avoidance permission to the drone with the lower flight level weight. If the flight level weights of the two drones are the same, avoidance permission will be sent to both drones at the same time. The drone that receives the avoidance permission will perform route adjustment actions to ensure the mission efficiency of the drone with a high flight weight.

9. The method for performing collaborative tasks of an intelligent drone swarm according to claim 1, characterized in that: The UAV sends the adjusted route to the control end in real time to promptly remind the user of the route change, which specifically includes the following steps: the UAV sends the subsequent new arrival coordinates to the control end, and the control end adjusts the route based on the received new arrival coordinates, highlights the route section in the control end, and records it in the collaborative task log to facilitate timely analysis of the route when an abnormality occurs in the collaborative task operation.

10. The method for collaborative task operation of intelligent drone swarm according to claim 1, characterized in that: After the drone swarm completes the collaborative mission, the drones will depart from their respective real-time locations and fly back to the recovery point on their own. The method comprises the following steps: S141: after the drone cluster completes the collaborative task operation, the flight level weight of its drone becomes the lowest level, and a drone cluster recovery request is sent to the control end; S142: after receiving the drone cluster recovery request, the control end sends the coordinates of the drone cluster and the recovery point coordinates to the background server; S143: based on the flight routes of other drones taking off in the same collaborative airspace and the same time period, the background server uses the coordinates of the drone cluster and the recovery point coordinates as the starting point and the end point of the route respectively, generates a simple recovery route through a path-finding algorithm, and sends it to the drone cluster through the control end; S144: the drone cluster goes to the recovery point according to the simple recovery route to realize the drone cluster recovery.

Images