Unmanned aerial vehicle cluster motion area tracking and covering method and system

Abstract

The invention discloses an unmanned aerial vehicle cluster motion area tracking and covering method and system, and relates to the unmanned aerial vehicle technology, and the method comprises the steps: configuring parameters of an unmanned aerial vehicle cluster and a to-be-covered area, and calculating the scale of the unmanned aerial vehicle cluster; determining initial arrangement of the unmanned aerial vehicle cluster according to the calculated cluster scale; calculating a runway center position according to the current center of the dynamic area; and calculating a tracking coverage route according to the initial arrangement and the runway center position. The method provided by the embodiment of the invention provides an efficient solution based on a runway route for the motion area tracking and covering problem of an unmanned aerial vehicle cluster.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method and system for tracking and covering a movement area of ​​a drone cluster. Background Art

[0002] In some real-life applications such as escort and maritime search and rescue, drone clusters are required to track and cover a certain movement area, that is, to achieve complete coverage of a certain movement area at all times, which involves dynamic route planning of drone clusters.

[0003] Existing technical solutions do not consider this type of motion area tracking coverage problem. Summary of the invention

[0004] The embodiments of the present application provide a method and system for tracking and covering the motion area of ​​a drone cluster, which are used to provide an efficient solution based on runway routes to the "motion area tracking and coverage problem of a drone cluster".

[0005] The present application provides a method for tracking and covering a movement area of ​​a drone cluster, including:

[0006] Configure the parameters of the drone cluster and the area to be covered, and calculate the size of the drone cluster;

[0007] Determine the initial arrangement of the drone cluster based on the calculated cluster size;

[0008] Calculate the runway center position based on the center of the dynamic area;

[0009] Based on the initial layout and the runway center position, the tracking coverage route is calculated.

[0010] Optionally, the parameters for configuring the drone cluster and the area to be covered include:

[0011] Define the cruising speed of the drone as V and the minimum speed as V min , the maximum speed is V max , the minimum turning radius is R t , the detection radius of the airborne sensor is R d The area to be covered is a moving rectangular area with a length of L and a width of W. The rectangular area moves at a virtual speed V a (V a <V) moves in the specified direction, the angle of the moving direction is ψ a .

[0012] Optionally, calculate the size of the drone swarm by:

[0013] Assume that the detection overlap rate is ρ, and the distance between two adjacent UAVs along the runway is d = 2ρR t, adjust the detection overlap rate ρ to always cover the inner area of ​​the runway;

[0014] The number of drones required for each runway is in is an upward rounding function, so the actual distance between two adjacent UAVs along the runway is

[0015] The length of the coverage of the drone cluster located on each runway is L. When d>R t When , the width of the coverage area of ​​the drone cluster located on each runway is:

[0016]

[0017] in

[0018]

[0019] a is a positive real number solution to the following equation:

[0020]

[0021] When d≤R t When , the coverage width of the drone cluster located on each runway is

[0022] In order to fully cover the sports area at every moment, the number of runways required is The total number of drones required is N = N r N u .

[0023] Optionally, according to the calculated cluster size, determining the initial arrangement of the drone cluster includes:

[0024] At the initial moment, the clustered drones on each runway are arranged according to the set runway shape and separated by a runway path distance d.

[0025] Optionally, calculating the runway center position according to the center of the dynamic area includes:

[0026] At the current time t, the center coordinate of the motion area is q t , then the i-th (i=1,2,L,N r ) runway center position coordinates O at time t it for:

[0027]

[0028] in:

[0029]

[0030] Optionally, based on the initial arrangement and the runway center position, the tracking coverage route is calculated including:

[0031] The tracking coverage route of the movement area of ​​the drone on each runway includes the forward movement of the drone following the movement area and the circumferential movement of the drone around the center position of the runway;

[0032] The speed of the UAV circling the runway is V f ;

[0033] The position of each drone at time t is O it The center of the runway is V, and compared with the initial moment, it moves counterclockwise along the runway f t distance, the speed of each UAV at time t is determined according to the runway shape and location to calculate the tracking coverage route.

[0034] An embodiment of the present application also proposes a drone cluster motion area tracking and coverage system, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the drone cluster motion area tracking and coverage method as described above are implemented.

[0035] The method of the embodiment of the present application provides an efficient solution based on runway routes for the "motion area tracking coverage problem of drone clusters".

[0036] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0038] Figure 1 This is a basic flow diagram of the method for tracking and covering the motion area of ​​a drone cluster according to an embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of the motion area to be covered in the method for tracking and covering the motion area of ​​a drone cluster in an embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of the initial arrangement of the swarm drones in the swarm drone motion area tracking and coverage method according to an embodiment of the present application;

[0041] Figure 4 This is a schematic diagram of the calculation of the drone route of the drone cluster motion area tracking and coverage method according to an embodiment of the present application;

[0042] Figure 5-8 This is a schematic diagram of a cluster tracking coverage route (dual runways, high virtual speed) of an example of a method for tracking and covering a motion area of ​​a drone cluster in an embodiment of the present application;

[0043] Fig. 9 It is a schematic diagram of the changes in cluster speed and acceleration (dual runways, large virtual speed) of the calculation example of the drone cluster motion area tracking and coverage method in the embodiment of the present application;

[0044] Fig.10 It is a schematic diagram of the change of the cluster heading angle and its change rate (dual runways, large virtual speed) of the calculation example of the drone cluster motion area tracking and coverage method in the embodiment of the present application;

[0045] Figure 11-14 This is a schematic diagram of a cluster tracking coverage route (dual runways, low virtual speed) of an example of a method for tracking and covering a motion area of ​​a drone cluster in an embodiment of the present application;

[0046] Fig.15 It is a schematic diagram of the changes in cluster speed and acceleration (dual runways, low virtual speed) of the calculation example of the drone cluster motion area tracking and coverage method in the embodiment of the present application;

[0047] Fig.16 This is a schematic diagram of the changes in the cluster heading angle and its rate of change (dual runways, low virtual speed) of an example of the drone cluster motion area tracking and coverage method according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0049] The present application embodiment provides a method for tracking and covering a movement area of ​​a drone cluster, such as Figure 1 As shown, the following steps are included:

[0050] In step S101, the parameters of the drone cluster and the area to be covered are configured, and the size of the drone cluster is calculated. Figure 2 As shown in the figure, the parameters for configuring the drone cluster and the area to be covered include: defining the cruising speed of the drone as V and the minimum speed as Vmin , the maximum speed is V max , the minimum turning radius is R t , the detection radius of the airborne sensor is R d (R d ≥R t ), the area to be covered is a moving rectangular area, the length of the rectangular area is L, the width is W, and the rectangular area moves at a virtual speed V a (V a <V) moves in the specified direction, the angle of the moving direction is ψ a .

[0051] The tracking and coverage problem of the UAV cluster on the moving area refers to the planning of the cluster size, the arrangement of the cluster UAVs, the flight routes of the cluster, etc., so that the cluster can fully cover the moving area at all times. In the embodiment of the present application, the UAV cluster is defined as tracking and covering the moving area in the form of one or more runways. The length of the straight section of each runway is L, and the radius of the curved section is R. t . Let the circumference of each runway be C = 2L + 2πR t .

[0052] In step S102, the initial arrangement of the drone cluster is determined according to the calculated cluster size.

[0053] In step S103, the center position of the runway is calculated according to the center of the dynamic area.

[0054] In step S104, the tracking coverage route is calculated according to the initial arrangement and the runway center position.

[0055] The method of the embodiment of the present application provides an efficient solution based on runway routes for the "motion area tracking coverage problem of drone clusters".

[0056] In some embodiments, calculating the size of the drone swarm includes:

[0057] Specify the detection overlap rate as ρ (0<ρ<1), and let the distance between two adjacent UAVs along the runway be d=2ρR t , adjust the detection overlap rate ρ to cover the inner area of ​​the runway at all times. For example, in order to ensure that the inner area of ​​the runway is covered at all times, the detection overlap rate ρ can be appropriately reduced.

[0058] The number of drones required for each runway is in is an upward rounding function, so the actual distance between two adjacent UAVs along the runway is

[0059] The length of the coverage of the drone cluster located on each runway is L. When d>Rt When , the width of the coverage area of ​​the drone cluster located on each runway is:

[0060]

[0061] in

[0062]

[0063] a is a positive real number solution to the following equation:

[0064]

[0065] When d≤R t When , the coverage width of the drone cluster located on each runway is

[0066] In order to fully cover the sports area at every moment, the number of runways required is The total number of drones required is N = N r N u .

[0067] In some embodiments, determining the initial arrangement of the drone cluster according to the calculated cluster size includes:

[0068] like Figure 3 As shown in the figure, at the initial moment, the clustered drones on each runway are arranged according to the set runway shape and separated by a runway path distance d. The first drone is defined as being at the upper right corner of the runway, and the second drone is arranged counterclockwise along the runway. The distance between the first and second drones along the runway path is d. The remaining drones are arranged in sequence counterclockwise along the runway, and the distance between two adjacent drones along the runway path is d.

[0069] At the current time t, the center coordinate of the motion area is q t , then the i-th (i=1,2,L,N r ) runway center position coordinates O at time t it for:

[0070]

[0071] in:

[0072]

[0073] In some embodiments, calculating the tracking coverage route according to the initial arrangement and the runway center position includes:

[0074] The tracking coverage route of the movement area of ​​the drone on each runway includes the forward movement of the drone following the movement area and the circumferential movement of the drone around the center position of the runway;

[0075] The speed of the UAV circling the runway is V f ;

[0076] The position of each drone at time t is O it The center of the runway is V, and compared with the initial moment, it moves counterclockwise along the runway f t distance, the speed of each drone at time t is determined according to the runway shape and location, and the route calculation of the clustered drones on each runway is as follows: Figure 4 As shown, the tracking coverage route is achieved.

[0077] The present application also proposes an implementation example of a method for tracking and covering a motion area of ​​a drone cluster, such as Figure 5-16 shown. Figure 5-8 The following table shows the routes of a cluster of 12 UAVs using dual runways to track and cover the area when the virtual speed of the moving area is high at 0 seconds, 75 seconds, 150 seconds, and 200 seconds respectively. Fig. 9 For this case, the speed and acceleration of each drone change over time; Fig.10 This is the change of each drone's heading angle and its rate of change over time in this case. It can be seen that when the virtual speed of the motion area is large, the acceleration and heading angle change rate of each drone are small, which can meet the motion constraints of the drone, and the forward motion component of the drone following the motion area accounts for a large proportion. Figure 11-14 The following table shows the routes of a cluster of 12 UAVs using dual runways to track and cover the area when the virtual speed of the moving area is low at 0 seconds, 75 seconds, 150 seconds, and 200 seconds respectively. Fig.15 For this case, the speed and acceleration of each drone change over time; Fig.16 In this case, the heading angle and its rate of change of each drone change over time. It can be seen that compared to the case where the virtual speed of the moving area is large, when the virtual speed of the moving area is small, the acceleration and heading angle change rate of each drone are large, but it can still meet the motion constraints of most drones; at this time, the forward motion component of the drone following the moving area accounts for a small proportion, and more of it is a circular motion around the moving area. The method of the embodiment of the present application achieves tracking coverage of the moving area, and the virtual speed of the moving area can be arbitrarily adjusted within a certain range. The method of the present application can adapt to the maneuverability of most drones.

[0078] An embodiment of the present application also proposes a drone cluster motion area tracking and coverage system, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the drone cluster motion area tracking and coverage method as described above are implemented.

[0079] It should be noted that in the various embodiments of the present application, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0080] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0081] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0082] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for tracking and covering the motion area of ​​a drone cluster, characterized in that: include: Configure the parameters of the drone cluster and the area to be covered, and calculate the size of the drone cluster; Determine the initial arrangement of the drone cluster based on the calculated cluster size; Calculate the runway center position based on the center of the dynamic area; Based on the initial layout and the runway center position, the tracking coverage route is calculated.

2. The method for tracking and covering the motion area of ​​a drone cluster as claimed in claim 1, characterized in that: The parameters for configuring the drone cluster and the area to be covered include: Define the cruising speed of the drone as V and the minimum speed as V min , the maximum speed is V max , the minimum turning radius is R t , the detection radius of the airborne sensor is R d The area to be covered is a moving rectangular area with a length of L and a width of W. The rectangular area moves at a virtual speed V a (V a <V) moves in the specified direction, the angle of the moving direction is ψ a .

3. The method for tracking and covering the motion area of ​​a drone cluster as claimed in claim 2, characterized in that: Calculating the size of a drone swarm involves: Assume that the detection overlap rate is ρ, and the distance between two adjacent UAVs along the runway is d = 2ρR t , adjust the detection overlap rate ρ to always cover the inner area of ​​the runway; The number of drones required for each runway is in is an upward rounding function, so the actual distance between two adjacent UAVs along the runway is The length of the coverage of the drone cluster located on each runway is L. When d>R t When , the width of the coverage area of ​​the drone cluster located on each runway is: in a is a positive real number solution to the following equation: When d≤R t When , the coverage width of the drone cluster located on each runway is In order to fully cover the sports area at every moment, the number of runways required is The total number of drones required is N = N r N u .

4. The method for tracking and covering the motion area of ​​a drone cluster as claimed in claim 3, characterized in that: Based on the calculated cluster size, the initial arrangement of the drone cluster is determined including: At the initial moment, the clustered drones on each runway are arranged according to the set runway shape and separated by a runway path distance d.

5. The method for tracking and covering the motion area of ​​a drone cluster as claimed in claim 4, characterized in that: Calculating the center position of the runway based on the center of the dynamic area includes: at the current time t, the center coordinates of the motion area are q t , then the i-th (i=1,2,L,N r ) runway center position coordinates O at time t it for: in:

6. The method for tracking and covering the motion area of ​​a drone cluster as claimed in claim 5, characterized in that: Based on the initial layout and the runway center position, the calculation of the tracking coverage route includes: The tracking coverage route of the movement area of ​​the drone on each runway includes the forward movement of the drone following the movement area and the circumferential movement of the drone around the center position of the runway; The speed of the UAV circling the runway is V f ; The position of each drone at time t is O it The center of the runway is V, and compared with the initial moment, it moves counterclockwise along the runway f t distance, the speed of each UAV at time t is determined according to the runway shape and location to calculate the tracking coverage route.

7. A drone cluster motion area tracking and coverage system, characterized in that: It comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method for tracking and covering the motion area of ​​a drone cluster as described in any one of claims 1 to 6 are implemented.

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