No-fly zone point target group observation task processing method, device and equipment of unmanned aerial vehicle and storage medium

Abstract

The invention discloses a no-fly zone point target group observation task processing method, device and equipment for an unmanned aerial vehicle, and a storage medium, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: obtaining the task information of all point targets in a no-fly zone and a no-fly zone coordinate sequence, and determining a buffer region according to a minimum safety distance; calculating the minimum boundary distance between each point target and the buffer area, and screening out the point targets with the distance smaller than the observation range to form an initial set; finding out a point target of which the distance to the first point target of the initial set is smaller than the observation range in the buffer area as a first observation point, and screening second observation points of which the distances to the first observation point meet conditions in the initial set to construct an observation set; calculating benefit values of the observation set according to a task allocation principle, selecting an observation point position corresponding to the highest benefit value, and removing subsets of the observation point position; and repeating the above process until the processed set is empty, and finally planning a task according to all observation points. Therefore, the processing efficiency of the point target group observation task can be improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, equipment, and storage medium for processing UAV target swarm observation tasks in no-fly zones. Background Technology

[0002] Currently, point target observation is one of the routine tasks that UAVs need to handle. Traditional methods for point target observation treat point targets as locations the UAV must traverse, then treat the task planning problem as a traveling salesman or multiple traveling salesman problem, employing appropriate optimization algorithms for task allocation and path planning. However, as the number of point targets increases, this method suffers from the curse of dimensionality, and it does not account for the scenario where the UAV can simultaneously observe multiple point targets.

[0003] For large-scale point target observation tasks, if the distance between target points is less than the observation range of the UAV, then groups of point targets with relative distances less than the UAV's observation range can be clustered, and these clustered groups can be treated as a single observation task for further task allocation and planning, thereby improving the utilization rate of UAV resources. The most commonly used point target clustering method is the k-means method, a distance-based clustering algorithm, but it suffers from sensitivity to the selection of initial centers. Researchers have developed various adaptive modifications based on the basic k-means method, or proposed new task clustering methods, to address the shortcomings of traditional methods. However, these methods mostly focus on improving the algorithm's global search capabilities, and the observation center after task clustering is always located at the center of the point target group.

[0004] No-fly zones, geographical areas where drones are prohibited from entering, are a crucial constraint to consider in drone mission allocation and planning. If the center of a point target group happens to be located in a no-fly zone, the mission of that target group cannot be executed successfully, rendering previous clustering analyses futile. Current research rarely considers point target mission clustering methods within no-fly zones.

[0005] As can be seen from the above, how to improve the efficiency of processing point target group observation tasks in no-fly zones by UAVs is an urgent problem to be solved. Summary of the Invention

[0006] In view of this, the purpose of this invention is to provide a method, apparatus, device, and storage medium for processing point target group observation tasks in no-fly zones using unmanned aerial vehicles (UAVs), which can improve the efficiency of processing point target group observation tasks corresponding to no-fly zones. The specific solution is as follows:

[0007] Firstly, this application provides a method for processing point target group observation tasks in no-fly zones using unmanned aerial vehicles (UAVs), including:

[0008] The task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence are obtained. The buffer zone and buffer zone location information are determined according to the minimum safe distance. Then, the user task allocation principle and observation range are determined. The buffer zone includes the no-fly zone. The minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation.

[0009] Based on the no-fly zone coordinate point sequence and the buffer zone location information, determine the minimum boundary distance between each of the first target points to be screened and the buffer zone. Then, determine whether each minimum boundary distance is less than the observation range. If it is less, establish an initial target set based on the first target points to be screened.

[0010] A first observation point target in each of the second target targets to be screened in the buffer is determined whose distance from the first target in the initial target set is less than the observation range, and a second observation point target in the initial target set whose distance from each of the first observation point targets is less than the observation range is determined, so as to construct an observation point set based on each of the second observation point targets;

[0011] Determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, set the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point position, and remove the subset corresponding to the observation point position from the observation point set to obtain the processed set.

[0012] Determine whether the processed set is an empty set. If it is not an empty set, then jump back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, then plan the task information based on the subset corresponding to each observation point.

[0013] Optionally, the step of obtaining the task information of all first target points to be screened located in the no-fly zone and the no-fly zone coordinate point sequence includes:

[0014] Obtain the point target number, planar coordinates, and integer importance level value for all point targets to be screened located in the no-fly zone; the larger the value of the importance level value, the greater the importance of the point target to be screened.

[0015] A coordinate point sequence corresponding to the no-fly zone is established using a preset coordinate point sequence method and based on the planar position coordinates of each target to be screened; the coordinate point sequence is a sequence of storing the planar position coordinates of each target to be screened in the no-fly zone in a clockwise or counterclockwise direction.

[0016] Optionally, the step of determining the buffer and buffer location information based on the minimum safe distance, and then determining the user task allocation principle and observation range, includes:

[0017] The minimum safe distance at which the UAV is allowed to approach the no-fly zone for observation is determined, and buffer zones and their location information are determined based on the minimum safe distance; wherein, the buffer zone is the surface area enclosed by the coordinates of each buffer zone corresponding to the boundary of the closest position to the no-fly zone that the UAV can reach; the buffer zone includes the no-fly zone;

[0018] The user task allocation principles include the principle of maximizing the number of targets and the principle of maximizing the target level. Then, the observation radius of the UAV is determined, and the observation range corresponding to the UAV is determined based on the observation radius. The principle of maximizing the number of targets means that the number of point targets allocated after the task information allocation is completed is greater than a preset number threshold. The principle of maximizing the target level means that the importance level of the point targets allocated after the task information allocation is completed is greater than a preset importance threshold. The task allocation principle is the benefit maximization index corresponding to the task allocation result.

[0019] Optionally, the step of determining the minimum boundary distance between each of the first target points to be screened and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone location information, and then determining whether each minimum boundary distance is less than the observation range; if it is less, then establishing an initial target set based on the first target points to be screened, including:

[0020] Based on the buffer location information, the buffer boundary location information corresponding to the buffer boundary of the buffer is determined, and based on the position coordinates of each of the first target points to be screened in the no-fly zone coordinate point sequence and the buffer boundary location information, the minimum boundary distance between the first target point to be screened and the buffer is determined.

[0021] Determine whether the minimum boundary distance corresponding to each of the first target points to be screened is less than the observation range. If the minimum boundary distance is less than the observation range, then store the first target point to be screened corresponding to the minimum boundary distance into the initial target point set.

[0022] If the minimum boundary distance is not less than the observation range, then the first target point to be screened corresponding to the minimum boundary distance will be removed.

[0023] Optionally, determining the first observation point target in the buffer whose distance to the first point target in the initial target set is less than the observation range, and determining the second observation point target in the initial target set whose distance to each of the first observation point targets is less than the observation range, to construct an observation point set based on each of the second observation point targets, includes:

[0024] Determine the first point target in the initial point target set, and determine the target distance to each of the second point targets to be screened based on the coordinate information corresponding to the first point target and the coordinate information corresponding to each of the second point targets to be screened in the buffer.

[0025] Determine whether the target distance is less than the observation range. If the target distance is less than the observation range, set the second target to be screened corresponding to the target distance as the observation point target and store the observation point target in the observation point set.

[0026] If the target distance is not less than the observation range, then the second target point corresponding to the target distance will be removed.

[0027] Optionally, the process involves determining the user task allocation principle type corresponding to the observation point set, determining the benefit value of the observation point set based on the user task allocation principle type, setting the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point location, and removing the subset corresponding to the observation point location from the observation point set to obtain the processed set, including:

[0028] Determine the user task allocation principle type corresponding to the observation point set. If the user task allocation principle type corresponding to the observation point set is the principle of maximizing the number of targets, then determine the number of observation points corresponding to each observation point target in the observation point set, and set the number of observation points to the benefit value corresponding to the observation point set.

[0029] If the user task allocation principle type corresponding to the observation point set is the highest target level principle, then the sum of the importance level values ​​corresponding to each observation point target in the observation point set is determined, and the sum of the level values ​​is set as the benefit value corresponding to the observation point set.

[0030] The observation point corresponding to the highest benefit value among all the benefit values ​​is set as the observation point, and a subset corresponding to the observation point is determined. Then, the subset is removed from the set of observation points to obtain the processed set.

[0031] Optionally, the step of determining whether the processed set is an empty set, if not, then jumps back to the step of obtaining the task information of all first target points to be screened located in the no-fly zone and the no-fly zone coordinate point sequence; if it is an empty set, then the task information is planned based on the subsets corresponding to each observation point, including:

[0032] Determine whether the processed set is empty. If the processed set is not empty, then jump back to the step of obtaining the task information of all target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence.

[0033] If the processed set is empty, it is determined that the task information has been processed. Then, based on the subset corresponding to each observation point, the task information corresponding to the UAV is assigned a task, so as to plan the flight path of the UAV using the task assignment information.

[0034] Secondly, this application provides a processing device for a no-fly zone point target group observation mission of an unmanned aerial vehicle (UAV), comprising:

[0035] The observation range determination module is used to acquire task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence, and to determine the buffer zone and buffer zone location information based on the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; the minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation;

[0036] The boundary distance determination module is used to determine the minimum boundary distance between each of the first target points to be screened and the buffer based on the no-fly zone coordinate point sequence and the buffer location information, and then determine whether each minimum boundary distance is less than the observation range. If it is less, an initial target set is established based on the first target points to be screened.

[0037] The observation point set determination module is used to determine the first observation point target in each of the second target targets to be screened in the buffer whose distance from the first point target in the initial target set is less than the observation range, and to determine the second observation point target in the initial target set whose distance from each of the first observation point targets is less than the observation range, so as to construct an observation point set based on each of the second observation point targets;

[0038] The observation point determination module is used to determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value among the benefit values ​​is set as the observation point, and the subset corresponding to the observation point is removed from the observation point set to obtain the processed set.

[0039] The step jump module is used to determine whether the processed set is an empty set. If it is not an empty set, it jumps back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, it plans the task information based on the subset corresponding to each observation point.

[0040] Thirdly, this application provides an electronic device, comprising:

[0041] Memory, used to store computer programs;

[0042] A processor is used to execute the computer program to implement the aforementioned method for processing target group observation tasks in no-fly zones of unmanned aerial vehicles.

[0043] Fourthly, this application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned method for processing target group observation tasks in no-fly zones of unmanned aerial vehicles.

[0044] As can be seen from the above, before processing the observation task of UAV no-fly zone point target group, this application first needs to obtain the task information of all first-selection point targets located in the no-fly zone and the no-fly zone coordinate point sequence, and determine the buffer zone and buffer zone location information according to the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; secondly, based on the no-fly zone coordinate point sequence and buffer zone location information, determine the minimum boundary distance between each first-selection point target and the buffer zone, and then determine whether each minimum boundary distance is less than the observation range. If it is less, then establish an initial point target set based on the first-selection point targets; furthermore, determine the first observation point target in each of the second-selection point targets in the buffer zone whose distance from the first point target in the initial point target set is less than the observation range, and confirm... First, a second observation point target is selected from the initial target set. The distance between this second observation point target and the first observation point target is less than the observation range. This second observation point target is then used to construct an observation point set. Next, the user task allocation principle type corresponding to the observation point set is determined, and the benefit value of the observation point set is determined based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value is set as the observation point position, and the subset corresponding to the observation point position is removed from the observation point set to obtain the processed set. Finally, it is determined whether the processed set is empty. If it is not empty, the process jumps back to the step of obtaining the task information of all first target targets to be screened located in the no-fly zone and the no-fly zone coordinate point sequence. If it is empty, the task information is planned based on the subset corresponding to each observation point position.

[0045] As can be seen from the above, before processing the observation task of a UAV no-fly zone target group, this embodiment first needs to obtain the task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence, and determine the buffer zone and buffer zone location information based on the minimum safe distance, and then determine the user task allocation principle and observation range; secondly, based on the no-fly zone coordinate point sequence and buffer zone location information, determine the minimum boundary distance between each first-selection target point and the buffer zone, and then determine whether each minimum boundary distance is less than the observation range. If it is less, then establish an initial target set based on the first-selection target points; furthermore, determine the first observation target point whose distance to the first target point in the initial target set is less than the observation range among each second-selection target point in the buffer zone, and determine the initial... Second observation point targets, whose distance from each first observation point target is less than the observation range, are selected from the target set to form an observation point set. Then, the user task allocation principle type corresponding to the observation point set is determined, and the benefit value of the observation point set is determined based on the user task allocation principle type. The observation point target with the highest benefit value is then set as the observation point, and the subset corresponding to the observation point is removed from the observation point set, resulting in a processed set. Finally, it is determined whether the processed set is empty. If it is not empty, the process returns to obtaining the task information for all first-selectable point targets located in the no-fly zone and the no-fly zone coordinate sequence. If it is empty, the task information is planned based on the subsets corresponding to each observation point. This improves the efficiency of processing no-fly zone point target group observation tasks during the UAV's no-fly zone observation process, thereby enhancing the user experience. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 This application discloses a flowchart of a method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles (UAVs).

[0048] Figure 2 This application discloses a flowchart of a specific method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles (UAVs).

[0049] Figure 3 This is a schematic diagram illustrating the task distribution of a specific UAV disclosed in this application;

[0050] Figure 4 This is a schematic diagram of the clustering results corresponding to a specific principle of maximizing the number of targets disclosed in this application;

[0051] Figure 5 This is a schematic diagram of the clustering results corresponding to a specific target-level highest principle disclosed in this application;

[0052] Figure 6 This is a schematic diagram of a no-fly zone target group observation and processing device for an unmanned aerial vehicle (UAV) disclosed in this application.

[0053] Figure 7 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Currently, point target observation is one of the routine tasks that UAVs need to handle. Traditional methods for point target observation treat point targets as locations that the UAV must pass through, and then treat the task planning problem as a traveling salesman or multiple traveling salesman problem, employing appropriate optimization algorithms for task allocation and path planning. However, as the number of point targets increases, this method suffers from the curse of dimensionality, and it does not consider the situation where the UAV can observe multiple point targets simultaneously. Therefore, this application provides a method for processing point target group observation tasks in no-fly zones using UAVs, which can improve the efficiency of processing point target group observation tasks corresponding to no-fly zones.

[0056] See Figure 1 As shown in the figure, this invention discloses a method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles (UAVs), including:

[0057] Step S11: Obtain the task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence, and determine the buffer zone and buffer zone location information according to the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; the minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation.

[0058] In this embodiment, the flowchart for processing the no-fly zone target group observation task of UAVs is as follows: Figure 2As shown: First, this application embodiment needs to obtain point target task information including point target number, location coordinates, and importance level. In one specific implementation, the number is denoted as... The coordinates of the point target (positive integer) are: Importance level is It is worth noting that a higher importance level value indicates a more important point target, and the value ranges from 0 to 9 (integers). Subsequently, this embodiment of the application requires recording the location information of the no-fly zone using a coordinate point sequence. Among these, the no-fly zone contains... Given a set of coordinate points, the sequence of coordinate points corresponding to the no-fly zone is as follows:

[0059] ;

[0060] It is worth mentioning that the sequence of coordinate points needs to be arranged in a clockwise or counterclockwise direction.

[0061] Specifically, obtaining the task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence can include: obtaining the target number, planar position coordinates, and integer importance level value corresponding to all target points to be selected in the no-fly zone; the larger the value of the importance level value, the greater the importance of the target point to be selected; using a preset coordinate point sequence method and based on the planar position coordinates of each target point to be selected, establishing a coordinate point sequence corresponding to the no-fly zone; the coordinate point sequence is a sequence that stores the planar position coordinates of each target point to be selected in the no-fly zone in a clockwise or counterclockwise direction.

[0062] Furthermore, assuming that the minimum permitted distance between a drone and the no-fly zone for observation is... Therefore, the embodiments of this application can be based on Calculate the buffer zone location information. The buffer zone refers to the closest accessible location to the no-fly zone that a drone can reach; that is, the area enclosed by the buffer zone's coordinates, and the buffer zone includes the no-fly zone area. If using... Each coordinate point represents the number of coordinates within the no-fly zone. Therefore, the sequence of coordinate points in the buffer zone is as follows:

[0063] ;

[0064] It is worth mentioning that the above sequence of coordinate points needs to be arranged in a clockwise or counterclockwise direction.

[0065] Furthermore, Figure 3This diagram illustrates the mission distribution of drones. Boxes represent point target locations, and the numerical codes next to the boxes indicate the target's importance level. Solid lines represent buffer zones, and long dashed lines represent no-fly zones.

[0066] Subsequently, this application embodiment needs to obtain the observation range of the UAV. In one specific implementation, the observation range of the UAV is based on... The observation range of a circular region with radius is The distance is 15km. Further, it is necessary to obtain the user task allocation principles. These principles refer to the profit maximization indicators that the task allocation results should achieve. In this embodiment, the task allocation principles include the principle of maximizing the number of targets and the principle of maximizing target level. The principle of maximizing the number of targets refers to having the largest number of point targets assigned after the task allocation is completed; the principle of maximizing target level refers to the highest importance level of the assigned point targets after the task allocation is completed.

[0067] Specifically, the buffer zone and its location information are determined based on the minimum safe distance. Then, the user task allocation principle and observation range are determined. This can include: determining the minimum safe distance at which the UAV is allowed to approach the no-fly zone for observation, and determining the buffer zone and its location information based on the minimum safe distance; wherein, the buffer zone is the area enclosed by the coordinates of each buffer zone corresponding to the boundary of the closest position to the no-fly zone that the UAV can reach; the buffer zone includes the no-fly zone; determining the user task allocation principle, including the principle of maximizing the number of targets and the principle of maximizing the target level, and then determining the observation radius of the UAV, and determining the observation range corresponding to the UAV based on the observation radius; the principle of maximizing the number of targets means that the number of point targets assigned after the task information allocation is greater than a preset threshold; the principle of maximizing the target level means that the importance level of the point targets assigned after the task information allocation is greater than a preset threshold; the task allocation principle is the benefit maximization index corresponding to the task allocation result.

[0068] Step S12: Determine the minimum boundary distance between each of the first target points to be screened and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone location information. Then determine whether each minimum boundary distance is less than the observation range. If it is less, establish an initial target set based on the first target points to be screened.

[0069] In this embodiment, it is assumed that there are m point targets, and the set of point targets is denoted as . If the task allocation principle is the highest target level principle, then the embodiments of this application can be considered as follows: The midpoint targets have been sorted according to their importance level. Let the set of UAV observation points be denoted as... for The number of UAV observation points is t = 0. In this embodiment, point targets that are impossible to reach are removed, i.e., point targets whose minimum distance to the buffer zone boundary is less than the UAV's observation range are removed. In one specific implementation, there are m = 50 point targets, and the set of point targets is denoted as... . The midpoint targets have been sorted according to their importance level. Let the set of UAV observation points be denoted as... for The number of observation points for the UAV is t = 0. Point targets whose minimum distance to the buffer zone boundary is less than the UAV's observation range are removed, resulting in the removal of 6 point targets, leaving 44 observable targets.

[0070] Specifically, based on the no-fly zone coordinate point sequence and buffer zone location information, the minimum boundary distance between each first target to be screened and the buffer zone is determined. Then, it is determined whether each minimum boundary distance is less than the observation range. If it is less, an initial target set is established based on the first target to be screened. This may include: determining the buffer zone boundary location information corresponding to the buffer zone boundary based on the buffer zone location information, and determining the minimum boundary distance between the first target to be screened and the buffer zone based on the location coordinates of each first target to be screened in the no-fly zone coordinate point sequence and the buffer zone boundary location information; determining whether the minimum boundary distance corresponding to each first target to be screened is less than the observation range. If the minimum boundary distance is not less than the observation range, the first target to be screened corresponding to the minimum boundary distance is stored in the initial target set; if the minimum boundary distance is not less than the observation range, the first target to be screened corresponding to the minimum boundary distance is removed.

[0071] Step S13: Determine the first observation point target in the buffer where the distance between it and the first point target in the initial point target set is less than the observation range, and determine the second observation point target in the initial point target set where the distance between it and each of the first observation point targets is less than the observation range, so as to construct an observation point set based on each of the second observation point targets.

[0072] In this embodiment, the target set is... The first point target in this application's embodiments needs to be enumerated. The coordinates of all available observation points, that is, enumeration. The distance between all points and target locations is less than the observation range. The coordinates of the points are determined, and for each available observation point, the set of observable point targets at that observation point is calculated; that is, the set of observable point targets at that observation point is calculated. The distance between the center and the observation point is less than the observation range. The set of point targets.

[0073] Specifically, the process involves identifying the first observation point target in the buffer whose distance to the first point target in the initial target set is less than the observation range, and identifying the second observation point targets in the initial target set whose distance to each of the first observation point targets is less than the observation range. This process is then used to construct an observation point set based on these second observation point targets. This may include: determining the first point target in the initial target set; determining the target distance to each of the second observation point targets based on the coordinate information of the first point target and the coordinate information of each of the second observation point targets in the buffer; determining whether the target distance is less than the observation range; if the target distance is less than the observation range, setting the second observation point target corresponding to the target distance as an observation point target and storing the observation point target in the observation point set; if the target distance is not less than the observation range, removing the second observation point target corresponding to the target distance.

[0074] Step S14: Determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, set the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point position, and remove the subset corresponding to the observation point position from the observation point set to obtain the processed set.

[0075] In this embodiment, for all available observation points, this application embodiment needs to calculate the benefit value corresponding to the observable target set and user task allocation principle for each observation point. If the principle is the maximum number of targets, then the number of point targets in the observable target set is calculated; if the principle is the highest target level, then the sum of the importance levels of point targets in the observable target set is calculated. Then, t is incremented by one, and the available observation point with the highest current benefit value is selected as the clustered observation point, denoted as . ,make Observation points The set of observable targets is denoted as the target subset. ,make That is, removing the target subset from the target set.

[0076] Specifically, the user task allocation principle type corresponding to the observation point set is determined, and the benefit value of the observation point set is determined based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value among all benefit values ​​is set as the observation point position, and the subset corresponding to the observation point position is removed from the observation point set to obtain the processed set. This may include: determining the user task allocation principle type corresponding to the observation point set; if the user task allocation principle type corresponding to the observation point set is the principle of maximizing the number of targets, then determining the number of observation points corresponding to each observation point target in the observation point set, and setting the number of observation points as the benefit value corresponding to the observation point set; if the user task allocation principle type corresponding to the observation point set is the principle of maximizing the target level, then determining the sum of the importance level values ​​corresponding to each observation point target in the observation point set, and setting the sum of the level values ​​as the benefit value corresponding to the observation point set; setting the observation point target corresponding to the highest benefit value among all benefit values ​​as the observation point position, determining the subset corresponding to the observation point position, and then removing the subset from the observation point set to obtain the processed set.

[0077] In one specific implementation, the clustering result corresponding to the principle of maximizing the number of targets is as follows: Figure 4 As shown, the clustering results corresponding to the highest target level principle are as follows: Figure 5 As shown, the boxes represent point target locations, the numbers next to the boxes indicate the point target importance level, the solid lines represent buffer zones, the long dashed lines represent no-fly zones, the short dashed lines represent the UAV's observation range, and the diamonds represent the clustered observation centers, i.e., the observation points that the UAV needs to reach.

[0078] Simulation analysis shows that the embodiments of this application can quickly achieve clustering of point observation targets under different principles when all point targets are located within the no-fly zone, and can clearly define the observation center after clustering for UAV task allocation and task planning.

[0079] Step S15: Determine whether the processed set is an empty set. If it is not an empty set, then jump back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, then plan the task information based on the subset corresponding to each observation point.

[0080] In this embodiment, if If it is an empty set, then the process ends; if If the set is not empty, then jump back to the steps of obtaining the task information of all first-selection target points located in the no-fly zone and the sequence of no-fly zone coordinates, until... The process begins by determining if the processed set is empty. If not, the process jumps back to obtaining task information for all target points in the no-fly zone and the no-fly zone coordinate sequence. If the set is empty, task information is planned based on the subsets corresponding to each observation point. This can include: determining if the processed set is empty; if not, jumping back to obtaining task information for all target points in the no-fly zone and the no-fly zone coordinate sequence; if the set is empty, task information processing is complete, and task allocation is performed on the corresponding task information for the UAV based on the subsets corresponding to each observation point, using the task allocation information to plan the UAV's flight path.

[0081] As can be seen from the above, before processing the observation task of a UAV no-fly zone target group, this embodiment first needs to obtain the task information of all first-to-be-selected point targets located in the no-fly zone and the no-fly zone coordinate point sequence. Then, it determines the buffer zone and its location information based on the minimum safe distance, and finally determines the user task allocation principle and observation range. The buffer zone includes the no-fly zone. Next, based on the no-fly zone coordinate point sequence and the buffer zone location information, it determines the minimum boundary distance between each first-to-be-selected point target and the buffer zone. Then, it determines whether each minimum boundary distance is less than the observation range. If it is less, an initial point target set is established based on the first-to-be-selected point targets. Furthermore, it identifies the first observation point target in the buffer zone whose distance to the first point target in the initial point target set is less than the observation range. The process involves identifying second observation point targets in the initial target set whose distance from each first observation point target is less than the observation range, and constructing an observation point set based on these second observation point targets. Next, the user task allocation principle type corresponding to the observation point set is determined, and the benefit value of the observation point set is determined based on this principle type. Then, the observation point target with the highest benefit value is set as the observation point, and the subset corresponding to each observation point is removed from the observation point set, resulting in a processed set. Finally, it is determined whether the processed set is empty. If it is not empty, the process returns to obtaining the task information for all first-to-be-selected target points located in the no-fly zone and the no-fly zone coordinate sequence. If it is empty, the task information is planned based on the subsets corresponding to each observation point. This improves the efficiency of processing no-fly zone target group observation tasks during UAV no-fly zone observation, thereby enhancing the user experience.

[0082] Accordingly, see Figure 6 As shown, this application also provides a processing device for a no-fly zone point target group observation task of an unmanned aerial vehicle, including:

[0083] The observation range determination module 11 is used to acquire the task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence, and to determine the buffer zone and buffer zone location information according to the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; the minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation;

[0084] The boundary distance determination module 12 is used to determine the minimum boundary distance between each of the first target points to be screened and the buffer based on the no-fly zone coordinate point sequence and the buffer location information, and then determine whether each minimum boundary distance is less than the observation range. If it is less, an initial target set is established based on the first target points to be screened.

[0085] The observation point set determination module 13 is used to determine the first observation point target in each of the second target targets to be screened in the buffer whose distance from the first point target in the initial target set is less than the observation range, and to determine the second observation point target in the initial target set whose distance from each of the first observation point targets is less than the observation range, so as to construct an observation point set based on each of the second observation point targets;

[0086] The observation point determination module 14 is used to determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value among the benefit values ​​is set as the observation point, and the subset corresponding to the observation point is removed from the observation point set to obtain the processed set.

[0087] The step jump module 15 is used to determine whether the processed set is an empty set. If it is not an empty set, it jumps back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, it plans the task information based on the subset corresponding to each observation point.

[0088] As can be seen from the above, before processing the observation task of a UAV no-fly zone target group, this application embodiment first needs to obtain the task information of all first-to-be-selected point targets located in the no-fly zone and the no-fly zone coordinate point sequence, and determine the buffer zone and buffer zone location information based on the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; secondly, based on the no-fly zone coordinate point sequence and the buffer zone location information, determine the minimum boundary distance between each first-to-be-selected point target and the buffer zone, and then determine whether each minimum boundary distance is less than the observation range. If it is less, then establish an initial point target set based on the first-to-be-selected point targets; furthermore, determine the first observation point target in each of the second-to-be-selected point targets in the buffer zone whose distance from the first point target in the initial point target set is less than the observation range, and confirm... First, a second observation point target is selected from the initial target set, whose distance from each of the first observation point targets is less than the observation range. An observation point set is then constructed based on these second observation point targets. Next, the user task allocation principle type corresponding to the observation point set is determined, and the benefit value of the observation point set is determined based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value among the benefit values ​​is set as the observation point position, and the subset corresponding to the observation point position is removed from the observation point set to obtain the processed set. Finally, it is determined whether the processed set is empty. If it is not empty, the process jumps back to the step of obtaining the task information of all first target targets to be screened located in the no-fly zone and the no-fly zone coordinate point sequence. If it is empty, the task information is planned based on the subset corresponding to each observation point position. In this way, the efficiency of processing the no-fly zone target group observation task is improved during the processing of the UAV's no-fly zone target group observation task, thereby enhancing the user experience.

[0089] In some specific embodiments, the observation range determination module 11 may specifically include:

[0090] The point target number determination unit is used to obtain the point target number, planar position coordinates, and integer importance level value of all point targets to be screened located in the no-fly zone; the larger the value of the importance level value, the greater the importance of the point target to be screened.

[0091] The coordinate point sequence determination unit is used to establish a coordinate point sequence corresponding to the no-fly zone based on the planar position coordinates of each of the target points to be screened using a preset coordinate point sequence method; the coordinate point sequence is a sequence of storing the planar position coordinates of each target point to be screened in the no-fly zone in a clockwise or counterclockwise direction.

[0092] In some specific embodiments, the observation range determination module 11 may specifically include:

[0093] A buffer zone determination unit is used to determine the minimum safe distance at which the UAV is allowed to approach the no-fly zone for observation, and to determine the buffer zone and buffer zone location information based on the minimum safe distance; wherein, the buffer zone is the surface area enclosed by the coordinates of each buffer zone corresponding to the boundary of the closest position to the no-fly zone that the UAV can reach; the buffer zone includes the no-fly zone;

[0094] The observation radius determination unit is used to determine user task allocation principles, including the principle of maximizing the number of targets and the principle of maximizing target level, and then determine the observation radius of the UAV to determine the observation range corresponding to the UAV based on the observation radius; the principle of maximizing the number of targets means that the number of point targets allocated after the task information allocation is greater than a preset number threshold; the principle of maximizing target level means that the importance level of the point targets allocated after the task information allocation is greater than a preset importance threshold; the task allocation principle is the benefit maximization index corresponding to the task allocation result.

[0095] In some specific embodiments, the boundary distance determination module 12 may specifically include:

[0096] The minimum boundary distance determination unit is used to determine the buffer boundary position information corresponding to the buffer boundary of the buffer based on the buffer position information, and to determine the minimum boundary distance between the first target to be screened and the buffer based on the position coordinates of each first target to be screened in the no-fly zone coordinate point sequence and the buffer boundary position information.

[0097] The minimum boundary distance judgment unit is used to determine whether the minimum boundary distance corresponding to each of the first target points to be screened is less than the observation range. If the minimum boundary distance is less than the observation range, the first target point to be screened corresponding to the minimum boundary distance is stored in the initial target point set.

[0098] The first target elimination unit is used to eliminate the first target to be screened corresponding to the minimum boundary distance if the minimum boundary distance is not less than the observation range.

[0099] In some specific embodiments, the observation point set determination module 13 may specifically include:

[0100] The target distance determination unit is used to determine the first point target in the initial point target set, and to determine the target distance with each of the second point targets to be screened based on the coordinate information corresponding to the first point target and the coordinate information corresponding to each of the second point targets to be screened in the buffer.

[0101] A point target storage unit is used to determine whether the target distance is less than the observation range. If the target distance is less than the observation range, the second point target to be screened corresponding to the target distance is set as the observation point target, and the observation point target is stored in the observation point set.

[0102] The second target elimination unit is used to eliminate the second target to be screened point corresponding to the target distance if the target distance is not less than the observation range.

[0103] In some specific embodiments, the observation point determination module 14 may specifically include:

[0104] The observation point quantity determination unit is used to determine the user task allocation principle type corresponding to the observation point set. If the user task allocation principle type corresponding to the observation point set is the maximum number of targets principle, then the number of observation points corresponding to each observation point target in the observation point set is determined, and the number of observation points is set to the benefit value corresponding to the observation point set.

[0105] The benefit value determination unit is used to determine the sum of the importance level values ​​of each observation point target in the observation point set if the user task allocation principle type corresponding to the observation point set is the highest target level principle, and set the sum of the level values ​​as the benefit value corresponding to the observation point set.

[0106] The subset determination unit is used to set the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point position, determine the subset corresponding to the observation point position, and then remove the subset from the observation point set to obtain the processed set.

[0107] In some specific embodiments, the step jump module 15 may specifically include:

[0108] The processed set judgment unit is used to determine whether the processed set is an empty set. If the processed set is not an empty set, the process jumps back to the step of obtaining the task information of all the target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence.

[0109] The task allocation unit is used to determine that the task information has been processed if the processed set is empty, and to allocate tasks to the task information corresponding to the UAV based on the subsets corresponding to each observation point, so as to plan the flight path of the UAV using the task allocation information.

[0110] Furthermore, embodiments of this application also disclose an electronic device, Figure 7 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the UAV no-fly zone point target group observation task processing method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be a computer.

[0111] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0112] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0113] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the no-fly zone point target group observation task processing method for UAVs executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks.

[0114] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0115] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0116] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0117] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0118] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0119] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles (UAVs), characterized in that, include: The task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence are obtained. The buffer zone and buffer zone location information are determined according to the minimum safe distance. Then, the user task allocation principle and observation range are determined. The buffer zone includes the no-fly zone. The minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation. Based on the no-fly zone coordinate point sequence and the buffer zone location information, determine the minimum boundary distance between each of the first target points to be screened and the buffer zone. Then, determine whether each minimum boundary distance is less than the observation range. If it is less, establish an initial target set based on the first target points to be screened. A first observation point target in each of the second target targets to be screened in the buffer is determined whose distance from the first target in the initial target set is less than the observation range, and a second observation point target in the initial target set whose distance from each of the first observation point targets is less than the observation range is determined, so as to construct an observation point set based on each of the second observation point targets; Determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, set the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point position, and remove the subset corresponding to the observation point position from the observation point set to obtain the processed set. Determine whether the processed set is an empty set. If it is not an empty set, then jump back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, then plan the task information based on the subset corresponding to each observation point.

2. The method for processing target group observation tasks in no-fly zones by unmanned aerial vehicles according to claim 1, characterized in that, The task of obtaining all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence includes: Obtain the point target number, planar coordinates, and integer importance level value for all point targets to be screened located in the no-fly zone; the larger the value of the importance level value, the greater the importance of the point target to be screened. A coordinate point sequence corresponding to the no-fly zone is established using a preset coordinate point sequence method and based on the planar position coordinates of each target to be screened; the coordinate point sequence is a sequence of storing the planar position coordinates of each target to be screened in the no-fly zone in a clockwise or counterclockwise direction.

3. The method for processing target swarm observation tasks in no-fly zones using unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The process of determining the buffer zone and its location information based on the minimum safe distance, and then determining the user task allocation principle and observation range, includes: The minimum safe distance at which the UAV is allowed to approach the no-fly zone for observation is determined, and buffer zones and their location information are determined based on the minimum safe distance; wherein, the buffer zone is the surface area enclosed by the coordinates of each buffer zone corresponding to the boundary of the closest position to the no-fly zone that the UAV can reach; the buffer zone includes the no-fly zone; The user task allocation principles include the principle of maximizing the number of targets and the principle of maximizing the target level. Then, the observation radius of the UAV is determined, and the observation range corresponding to the UAV is determined based on the observation radius. The principle of maximizing the number of targets means that the number of point targets allocated after the task information allocation is completed is greater than a preset number threshold. The principle of maximizing the target level means that the importance level of the point targets allocated after the task information allocation is completed is greater than a preset importance threshold. The task allocation principle is the benefit maximization index corresponding to the task allocation result.

4. The method for processing target group observation tasks in no-fly zones by unmanned aerial vehicles according to claim 1, characterized in that, The minimum boundary distance between each of the first target points to be screened and the buffer zone is determined based on the no-fly zone coordinate point sequence and the buffer zone location information. Then, it is determined whether each minimum boundary distance is less than the observation range. If it is less, an initial target point set is established based on the first target points to be screened, including: Based on the buffer location information, the buffer boundary location information corresponding to the buffer boundary of the buffer is determined, and based on the position coordinates of each of the first target points to be screened in the no-fly zone coordinate point sequence and the buffer boundary location information, the minimum boundary distance between the first target point to be screened and the buffer is determined. Determine whether the minimum boundary distance corresponding to each of the first target points to be screened is less than the observation range. If the minimum boundary distance is less than the observation range, then store the first target point to be screened corresponding to the minimum boundary distance into the initial target point set. If the minimum boundary distance is not less than the observation range, then the first target point to be screened corresponding to the minimum boundary distance will be removed.

5. The method for processing target group observation tasks in no-fly zones by unmanned aerial vehicles according to claim 1, characterized in that, The step of determining a first observation point target in the buffer whose distance to the first point target in the initial target set is less than the observation range, and determining a second observation point target in the initial target set whose distance to each of the first observation point targets is less than the observation range, to construct an observation point set based on each of the second observation point targets, includes: Determine the first point target in the initial point target set, and determine the target distance to each of the second point targets to be screened based on the coordinate information corresponding to the first point target and the coordinate information corresponding to each of the second point targets to be screened in the buffer. Determine whether the target distance is less than the observation range. If the target distance is less than the observation range, set the second target to be screened corresponding to the target distance as the observation point target and store the observation point target in the observation point set. If the target distance is not less than the observation range, then the second target point corresponding to the target distance will be removed.

6. The method for processing target swarm observation tasks in no-fly zones by unmanned aerial vehicles according to claim 3, characterized in that, The process involves determining the user task allocation principle type corresponding to the observation point set, determining the benefit value of the observation point set based on the user task allocation principle type, setting the observation point target corresponding to the highest benefit value among the benefit values ​​as the observation point location, and removing the subset corresponding to the observation point location from the observation point set to obtain the processed set, including: Determine the user task allocation principle type corresponding to the observation point set. If the user task allocation principle type corresponding to the observation point set is the principle of maximizing the number of targets, then determine the number of observation points corresponding to each observation point target in the observation point set, and set the number of observation points to the benefit value corresponding to the observation point set. If the user task allocation principle type corresponding to the observation point set is the highest target level principle, then the sum of the importance level values ​​corresponding to each observation point target in the observation point set is determined, and the sum of the level values ​​is set as the benefit value corresponding to the observation point set. The observation point corresponding to the highest benefit value among all the benefit values ​​is set as the observation point, and a subset corresponding to the observation point is determined. Then, the subset is removed from the set of observation points to obtain the processed set.

7. The method for processing target group observation tasks in no-fly zones by unmanned aerial vehicles according to any one of claims 1 to 6, characterized in that, The step of determining whether the processed set is an empty set is followed by, if not, returning to the step of obtaining the task information of all first target points to be screened located in the no-fly zone and the no-fly zone coordinate point sequence; if it is an empty set, the task information is planned based on the subsets corresponding to each observation point, including: Determine whether the processed set is empty. If the processed set is not empty, then jump back to the step of obtaining the task information of all target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If the processed set is empty, it is determined that the task information has been processed and the task information corresponding to the UAV is assigned based on the subset corresponding to each observation point, so as to plan the flight path of the UAV using the task assignment information.

8. A device for processing observation tasks of point targets in no-fly zones using unmanned aerial vehicles (UAVs), characterized in that, include: Observation The range determination module is used to acquire task information of all first-selection target points located in the no-fly zone and the no-fly zone coordinate point sequence, and to determine the buffer zone and buffer zone location information based on the minimum safe distance, and then determine the user task allocation principle and observation range; the buffer zone includes the no-fly zone; the minimum safe distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation; The boundary distance determination module is used to determine the minimum boundary distance between each of the first target points to be screened and the buffer based on the no-fly zone coordinate point sequence and the buffer location information, and then determine whether each minimum boundary distance is less than the observation range. If it is less, an initial target set is established based on the first target points to be screened. The observation point set determination module is used to determine the first observation point target in each of the second target targets to be screened in the buffer whose distance from the first point target in the initial target set is less than the observation range, and to determine the second observation point target in the initial target set whose distance from each of the first observation point targets is less than the observation range, so as to construct an observation point set based on each of the second observation point targets; The observation point determination module is used to determine the user task allocation principle type corresponding to the observation point set, and determine the benefit value of the observation point set based on the user task allocation principle type. Then, the observation point target corresponding to the highest benefit value among the benefit values ​​is set as the observation point, and the subset corresponding to the observation point is removed from the observation point set to obtain the processed set. The step jump module is used to determine whether the processed set is an empty set. If it is not an empty set, it jumps back to the step of obtaining the task information of all first target points to be screened in the no-fly zone and the no-fly zone coordinate point sequence. If it is an empty set, it plans the task information based on the subset corresponding to each observation point.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the method for processing no-fly zone point target group observation tasks of unmanned aerial vehicles as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, wherein the computer program, when executed by a processor, implements the method for processing no-fly zone point target group observation tasks of unmanned aerial vehicles as described in any one of claims 1 to 7.

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