A no-fly zone point target group observation task processing method, device and equipment of a drone and a storage medium

Abstract

The application discloses a no-fly zone point target group observation task processing method and device, equipment and a storage medium of an unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and comprises the following steps: acquiring task information of all point targets in a no-fly zone and a no-fly zone coordinate sequence, and determining a buffer zone according to a minimum safety distance; calculating minimum boundary distances of the point targets and the buffer zone, screening out point targets with a distance less than an observation range to form an initial set; finding out, in the buffer zone, a point target with a distance less than the observation range from a first point target of the initial set as a first observation point, and then screening out a second observation point from the initial set and meeting a condition of the first observation point to construct an observation set; calculating an observation set benefit value according to a task allocation principle, selecting an observation point position corresponding to a highest benefit value, and eliminating a sub-set of the observation point position; repeating the above process until a processed set is empty, and finally planning a task according to all observation point positions. In this way, the processing efficiency of the point target group observation task can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a method and device for processing a point target group observation task in a no-fly zone of an unmanned aerial vehicle, an equipment and a storage medium. BACKGROUND

[0002] At present, a point target observation task is one of the routine tasks that need to be processed by an unmanned aerial vehicle. For a point target observation task, a traditional method is to regard a point target as a position point that must be passed through by an unmanned aerial vehicle, and then regard a task planning problem thereof as a traveling salesman or multi-traveling salesman problem, and adopt a proper optimization algorithm to perform task allocation and path planning. However, with an increase in the number of point targets, this method has a dimension disaster, and this method does not consider a case where an unmanned aerial vehicle can simultaneously observe multiple point targets.

[0003] For a large-scale point target observation task, if there is a distance between target points that is less than an observation range of an unmanned aerial vehicle, then a point target group with a relative distance less than the observation range of the unmanned aerial vehicle can be clustered, and the clustered point target group can be regarded as an observation task, and a next step of task allocation and planning can be performed, so as to improve utilization of unmanned aerial vehicle resources. A most commonly used point target clustering method is a k-means method, which is a clustering algorithm based on distance measurement, but it has a problem of being sensitive to initial center selection. Researchers have developed various adaptive modifications based on the basic k-means, or proposed new task clustering methods, to solve defects of the traditional method, but the focus of these methods is on improvement of global search capability and the like, and an observation center after task clustering is always located at a center of a point target group.

[0004] A no-fly zone, that is, a geographical area where an unmanned aerial vehicle is prohibited from entering, is an important constraint that needs to be considered in task allocation and planning of the unmanned aerial vehicle. If a center of a point target group is located in the no-fly zone, then a task of the target group cannot be smoothly performed, and previous clustering analysis is in vain. In current research, there are few point target task clustering methods that consider the no-fly zone.

[0005] As can be seen from the above, how to improve efficiency of processing a point target group observation task corresponding to a no-fly zone in a process of processing the point target group observation task in the no-fly zone of the unmanned aerial vehicle is a problem to be solved at present. SUMMARY

[0006] In view of this, the purpose of the present application is to provide a method and device for processing a point target group observation task in a no-fly zone of an unmanned aerial vehicle, an equipment and a storage medium, which can improve efficiency of processing a point target group observation task corresponding to a no-fly zone in a process of processing the point target group observation task in the no-fly zone of the unmanned aerial vehicle. The specific scheme is as follows.

[0007] In a first aspect, the present application provides a no-fly zone point target group observation task processing method of a UAV, comprising:

[0008] obtaining task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone, and determining a buffer zone and buffer zone position information according to a minimum safety distance, and then determining a user task allocation principle and an observation range; the buffer zone contains the no-fly zone; the minimum safety distance is the minimum distance at which the UAV is allowed to approach the no-fly zone for observation;

[0009] determining a minimum boundary distance between each of the first to-be-screened point targets and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone position information, and then determining whether each of the minimum boundary distances is less than the observation range, and if so, establishing an initial point target set based on the first to-be-screened point targets;

[0010] determining a first observation point target in each of the second to-be-screened point targets in the buffer zone and a first observation point target in the initial point target set, and determining a second observation point target in the initial point target set and each of the first observation point targets, and constructing an observation point set based on each of the second observation point targets;

[0011] determining a user task allocation principle type corresponding to the observation point set, and determining a benefit value of the observation point set based on the user task allocation principle type, and then setting an observation point target corresponding to a highest value of each of the benefit values as an observation point position, and removing a sub-set corresponding to the observation point position from the observation point set to obtain a processed set;

[0012] determining whether the processed set is empty, and if not, jumping back to the step of obtaining the task information of all first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone, and if so, planning the task information based on each of the sub-sets corresponding to the observation point positions.

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

[0014] obtaining a point target serial number, a plane position coordinate, and an integer type importance level value corresponding to each of the to-be-screened point targets located in the no-fly zone; the greater the value corresponding to the importance level value, the greater the importance of the to-be-screened point target;

[0015] The preset coordinate point sequence mode is used to establish a coordinate point sequence corresponding to the no-fly zone based on the planar position coordinates corresponding to each of the to-be-screened point targets. The coordinate point sequence is a sequence in which the planar position coordinates corresponding to each of the to-be-screened point targets in the no-fly zone are stored in a clockwise direction or an anticlockwise direction.

[0016] Optionally, the minimum safety distance is determined to determine the buffer zone and the buffer zone position information, and then the user task allocation principle and the observation range are determined, including:

[0017] The minimum safety distance at which the UAV is allowed to approach the no-fly zone for observation is determined, so as to determine the buffer zone and the buffer zone position information based on the minimum safety distance. The buffer zone is a planar region surrounded by each buffer zone position coordinate corresponding to the position boundary of the no-fly zone closest to the no-fly zone. The buffer zone contains the no-fly zone.

[0018] The user task allocation principle including the target quantity maximum principle and the target level highest principle is determined, and then the observation radius of the UAV is determined, so as to determine the observation range corresponding to the UAV based on the observation radius. The target quantity maximum principle is that the number of point targets allocated after the task information allocation is completed is greater than a preset number threshold. The target level highest principle is that the importance level of the point target allocated after the task information allocation is completed is greater than a preset and threshold. The task allocation principle is a benefit maximization index corresponding to the task allocation result.

[0019] Optionally, the minimum boundary distance of each of the first to-be-screened point target and the buffer zone is determined based on the no-fly zone coordinate point sequence and the buffer zone position information, and then it is judged whether each of the minimum boundary distances is less than the observation range. If it is less than the observation range, an initial point target set is established based on the first to-be-screened point target, including:

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

[0021] It is judged whether the minimum boundary distance corresponding to each of the first to-be-screened point target is less than the observation range. If the minimum boundary distance is less than the observation range, the first to-be-screened point target corresponding to the minimum boundary distance is stored in the initial point target set.

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

[0023] Optionally, the first observation point target in the buffer area is determined, which is the second to-be-screened point target with a distance to the first point target in the initial point target set less than the observation range, and the second observation point target in the initial point target set is determined, which is the point target with a distance to each first observation point target less than the observation range, so as to construct an observation point set based on each second observation point target, including:

[0024] The first point target in the initial point target set is determined, so as to determine the target distance corresponding to each second to-be-screened point target based on the coordinate information corresponding to the first point target and the coordinate information corresponding to each second to-be-screened point target;

[0025] It is judged whether the target distance is less than the observation range, if the target distance is less than the observation range, the second to-be-screened point target corresponding to the target distance is set as an observation point target, and the observation point target is stored in an observation point set;

[0026] If the target distance is not less than the observation range, the second to-be-screened point target corresponding to the target distance is eliminated.

[0027] Optionally, 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 benefit value with the highest value in each benefit value is set as an observation point position, and a sub-set corresponding to the observation point position is eliminated from the observation point set to obtain a processed set, including:

[0028] The user task allocation principle type corresponding to the observation point set is determined, if the user task allocation principle type corresponding to the observation point set is a target quantity maximum principle, the observation point quantity corresponding to each observation point target in the observation point set is determined, and the observation point quantity is set as a benefit value corresponding to the observation point set;

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

[0030] The observation point target corresponding to the benefit value with the highest value in each benefit value is set as an observation point position, and a sub-set corresponding to the observation point position is determined, then the sub-set is eliminated from the observation point set to obtain a processed set.

[0031] Optionally, the judgment whether the processed set is empty, if not empty, re-jump to the step of obtaining the task information of all first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone, if empty, planning the task information based on each sub-set corresponding to the observation point, including:

[0032] Judgment whether the processed set is empty, if the processed set is not empty, re-jump to the step of obtaining the task information of all to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone;

[0033] If the processed set is empty, it is determined that the task information has been processed, and the task information corresponding to the unmanned aerial vehicle is allocated based on each sub-set corresponding to the observation point, so as to plan the flight path of the unmanned aerial vehicle by using the task allocation information.

[0034] In a second aspect, the application provides a no-fly zone point target group observation task processing device of an unmanned aerial vehicle, comprising:

[0035] An observation range determination module is configured to obtain the task information of all first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone, and determine the buffer zone and buffer zone position information according to the minimum safety distance, and then determine the user task allocation principle and the observation range; the buffer zone contains the no-fly zone; the minimum safety distance is the minimum distance that the unmanned aerial vehicle is allowed to approach the no-fly zone for observation;

[0036] A boundary distance determination module is configured to determine the minimum boundary distance between each first to-be-screened point target and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone position information, and then judge whether each minimum boundary distance is less than the observation range, if less than, establish an initial point target set based on the first to-be-screened point target;

[0037] An observation point set determination module is configured to determine the first observation point target in which the distance between each second to-be-screened point target in the buffer zone 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 which the distance between each first observation point target in the initial point target set and the second observation point target is less than the observation range, so as to construct an observation point set based on each second observation point target;

[0038] An observation point position determination module is configured to determine a user task allocation principle type corresponding to the observation point set, determine a benefit value of the observation point set based on the user task allocation principle type, set an observation point target corresponding to a highest benefit value in the benefit values as an observation point position, and eliminate a sub-set corresponding to the observation point position from the observation point set to obtain a processed set;

[0039] A step jump module is configured to determine whether the processed set is empty, if not, jump back to the step of obtaining the task information of all the first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone, and if yes, plan the task information based on the sub-set corresponding to each observation point position.

[0040] In a third aspect, the present application provides an electronic device, comprising:

[0041] A memory is configured to save a computer program;

[0042] A processor is configured to execute the computer program to implement the preceding no-fly zone point target group observation task processing method of the unmanned aerial vehicle.

[0043] In a fourth aspect, the present application provides a computer readable storage medium configured to save a computer program, wherein the computer program is executed by a processor to implement the preceding no-fly zone point target group observation task processing method of the unmanned aerial vehicle.

[0044] As can be seen from the above, before the no-fly zone point target group observation task processing of the unmanned aerial vehicle is performed, the task information of all the first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone need to be acquired first, and the buffer zone and the buffer zone position information are determined according to the minimum safety distance, and then the user task allocation principle and the observation range are determined; the buffer zone contains the no-fly zone; secondly, the minimum boundary distance between each first to-be-screened point target and the buffer zone is determined based on the no-fly zone coordinate point sequence and the buffer zone position information, and then it is judged whether each minimum boundary distance is less than the observation range, if less than, the initial point target set is established based on the first to-be-screened point target; further, the first observation point target between each second to-be-screened point target in the buffer zone and the first point target in the initial point target set is determined, which is less than the observation range, and the second observation point target between each first observation point target in the initial point target set and the observation range is determined, to construct the observation point set based on each second observation point target; subsequently, 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 value in each benefit value is set as the observation point position, and the sub-set corresponding to the observation point position is removed from the observation point set to obtain the processed set; finally, it is judged whether the processed set is empty set, if not, the step of acquiring the task information of all the first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone is re-jumped to, if yes, the task information is planned based on the sub-set corresponding to each observation point position.

[0045] As can be seen from the above, before the UAV forbidden area point target group observation task processing is performed, the embodiment of the application first needs to acquire the task information of all the first to-be-screened point targets located in the forbidden area and the forbidden area coordinate point sequence of the forbidden area, and determines the buffer zone and the buffer zone position information according to the minimum safety distance, and then determines the user task allocation principle and the observation range; secondly, the minimum boundary distance between each first to-be-screened point target and the buffer zone is determined based on the forbidden area coordinate point sequence and the buffer zone position information, and then it is judged whether each minimum boundary distance is less than the observation range, if yes, the initial point target set is established based on the first to-be-screened point target; thirdly, the first observation point target between each second to-be-screened point target in the buffer zone and the first point target in the initial point target set is determined to be less than the observation range, and the second observation point target between each first observation point target in the initial point target set and the observation range is determined, so as to construct the observation point set based on each second observation point target; subsequently, 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, and then the observation point target corresponding to the highest value in each benefit value is set as the observation point position, and the sub-set corresponding to the observation point position is removed from the observation point set to obtain the processed set; finally, it is judged whether the processed set is empty, if not, the step of acquiring the task information of all the first to-be-screened point targets located in the forbidden area and the forbidden area coordinate point sequence of the forbidden area is re-jumped, if yes, the task information is planned based on the sub-set corresponding to each observation point position. In this way, the efficiency of processing the point target group observation task corresponding to the forbidden area is improved in the process of the UAV forbidden area point target group observation task processing, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of the provided drawings.

[0047] Figure 1 A flow chart of a UAV forbidden area point target group observation task processing method disclosed by the present application;

[0048] Figure 2 A flow chart of a specific UAV forbidden area point target group observation task processing method disclosed by the present application;

[0049] Figure 3 A specific task distribution situation diagram of a UAV disclosed by the present application;

[0050] Figure 4 A clustering result schematic diagram corresponding to a specific target quantity maximum principle disclosed in the application;

[0051] Figure 5 A clustering result schematic diagram corresponding to a specific target level highest principle disclosed in the application;

[0052] Figure 6 A structure schematic diagram of a no-fly zone point target group observation task processing device of a UAV disclosed in the application;

[0053] Figure 7 An electronic device structure disclosed in the application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the application will be apparently and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0055] At present, point target observation tasks are one of the routine tasks that a UAV needs to process. For a point target observation task, a traditional method is to regard a point target as a position point that a UAV must pass through, and then to regard a task planning problem thereof as a traveling salesman or multiple traveling salesman problem, and to perform task allocation and path planning by using a proper optimization algorithm. However, with an increase in the number of point targets, the method has a dimension disaster, and the method does not consider a case that a UAV can simultaneously observe multiple point targets. Therefore, the application provides a no-fly zone point target group observation task processing method of a UAV, which can improve the efficiency of processing a point target group observation task corresponding to a no-fly zone in a no-fly zone point target group observation task processing process of the UAV.

[0056] Referring to Figure 1 The embodiment of the application discloses a no-fly zone point target group observation task processing method of a UAV, which comprises the following steps:

[0057] In step S11, task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone are acquired, a buffer zone and buffer zone position information are determined according to a minimum safety distance, and a user task allocation principle and an observation range are determined; the buffer zone contains the no-fly zone; and the minimum safety distance is a minimum distance at which a UAV is allowed to approach the no-fly zone for observation.

[0058] In the embodiment, a flowchart of processing a no-fly zone point target group observation task of a UAV is as shown in Figure 2As shown, first, the embodiment of the present application needs to acquire point target task information including point target serial number, position coordinates and importance level. In a specific implementation, the serial number of the point target is , the coordinates of the point target are , and the importance level is . It is worth mentioning that the greater the value of the importance level, the more important the point target, and the value range is an integer between 0 and 9. Subsequently, the embodiment of the present application needs to record the position information of the no-fly zone in the form of a coordinate point sequence. Wherein, if there are coordinate points in the no-fly zone, the coordinate point sequence corresponding to the no-fly zone region is shown as follows:

[0059] ;

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

[0061] Specifically, acquiring the task information of all first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone can include: acquiring the point target serial number, the planar position coordinates and the integer importance level value corresponding to each to-be-screened point target located in the no-fly zone; the greater the importance level value, the greater the importance of the to-be-screened point target; establishing a coordinate point sequence corresponding to the no-fly zone based on the planar position coordinates of each to-be-screened point target using a preset coordinate point sequence; the coordinate point sequence is a sequence of storing the planar position coordinates of each to-be-screened point target in the no-fly zone in a clockwise direction or a counterclockwise direction.

[0062] Further, assuming that the minimum distance allowed from the no-fly zone when the unmanned aerial vehicle approaches the no-fly zone for observation is , the embodiment of the present application can calculate the buffer zone position information based on . Wherein, the buffer zone refers to the position boundary closest to the no-fly zone that the unmanned aerial vehicle can reach, that is, the area surrounded by the buffer zone position coordinates, and the buffer zone includes the no-fly zone area. If coordinate points are used to represent the number of coordinates in the no-fly zone, the coordinate point sequence in the buffer zone region is shown as follows:

[0063] ;

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

[0065] Further, 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 is 0, and the application embodiment needs to eliminate impossible point targets, that is, eliminate point targets with a minimum distance to the buffer zone boundary less than the UAV observation range. In a specific embodiment, there are m=50 point targets, and the point target set is denoted as . The point targets in the set are sorted according to the importance level. Denote the set of UAV observation points as The number of UAV observation points is t is 0. Eliminate point targets with a minimum distance to the buffer zone boundary less than the UAV observation range, a total of 6 point targets are eliminated, and there are still 44 observable targets left.

[0070] Specifically, based on the sequence of no-fly zone coordinate points and the buffer zone position information, the minimum boundary distance of each first to-be-screened point target and the buffer zone is determined, and then it is judged whether each minimum boundary distance is less than the observation range. If it is less than, an initial point target set is established based on the first to-be-screened point target, which can include: determining the buffer zone boundary position information corresponding to the buffer zone boundary of the buffer zone based on the buffer zone position information, and determining the minimum boundary distance of the first to-be-screened point target and the buffer zone based on the position coordinates corresponding to each first to-be-screened point target in the sequence of no-fly zone coordinate points and the buffer zone boundary position information; judging whether the minimum boundary distance corresponding to each first to-be-screened point target is less than the observation range, if the minimum boundary distance is not less than the observation range, the first to-be-screened point target corresponding to the minimum boundary distance is stored in the initial point target set; if the minimum boundary distance is not less than the observation range, the first to-be-screened point target corresponding to the minimum boundary distance is eliminated.

[0071] Step S13, determining a first observation point target in each second to-be-screened point target in the buffer zone and a first point target in the initial point target set, and determining a second observation point target in the initial point target set and each first observation point target, and constructing an observation point set based on each second observation point target.

[0072] In this embodiment, for the first point target in the point target set , the application embodiment needs to enumerate all available observation point coordinates in , that is, enumerate all point coordinates in with a distance to the point target position less than the observation range , and calculate the observable point target set at each available observation point, that is, calculate the point target set in with a distance to the observation point position less than the observation range .

[0073] ​Specifically, determining a first observation point target in the buffer area, wherein a distance between the first observation point target and each second to-be-screened point target in the initial point target set is less than the observation range, and determining a second observation point target in the initial point target set, wherein a distance between the second observation point target and each first observation point target is less than the observation range, so as to construct an observation point set based on each second observation point target can include: determining a first point target in the initial point target set, so as to determine a target distance corresponding to each second to-be-screened point target based on coordinate information corresponding to the first point target and coordinate information corresponding to each second to-be-screened point target; determining whether the target distance is less than the observation range, if the target distance is less than the observation range, setting the second to-be-screened point target corresponding to the target distance as an observation point target, and storing the observation point target in the observation point set; and if the target distance is not less than the observation range, eliminating the second to-be-screened point target corresponding to the target distance.

[0074] Step S14, determining a user task allocation principle type corresponding to the observation point set, determining a benefit value of the observation point set based on the user task allocation principle type, setting an observation point target corresponding to a highest value in each benefit value as an observation point position, and eliminating a sub-set corresponding to the observation point position from the observation point set to obtain a processed set.

[0075] In the embodiment, for all available observation points, the embodiment needs to calculate a benefit value corresponding to a user task allocation principle of each observation point observable target set. If the target number most principle is used, the number of point targets in the observable target set is calculated; if the target level highest principle is used, the sum of the important levels of the point targets in the observable target set is calculated. Then, t is incremented by one, and the currently available observation point with the highest benefit value is selected as the observation point position, denoted as , and . The observable target set of the observation point position is denoted as a target subset , and , that is, the target subset is eliminated 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... If the set is not empty, the step of obtaining the task information of all the first to-be-screened point targets located in the no-fly zone and the sequence of the no-fly zone coordinate points of the no-fly zone is re-executed. If the set is empty, the task information is planned based on the sub-set corresponding to each observation point, which can include: determining whether the set is empty. If the set is not empty, the step of obtaining the task information of all the to-be-screened point targets located in the no-fly zone and the sequence of the no-fly zone coordinate points of the no-fly zone is re-executed. If the set is empty, it is determined that the task information has been processed, and the task information corresponding to the unmanned aerial vehicle is allocated based on the sub-set corresponding to each observation point, so as to plan the flight path of the unmanned aerial vehicle by using the task allocation information.

[0081] As can be seen from the above, before the no-fly zone point target group observation task processing of the unmanned aerial vehicle is performed, the task information of all the first to-be-screened point targets located in the no-fly zone and the sequence of the no-fly zone coordinate points of the no-fly zone are first obtained, and the buffer zone and the buffer zone position information are determined according to the minimum safety distance, and then the user task allocation principle and the observation range are determined. The buffer zone contains the no-fly zone. Secondly, the minimum boundary distance between each first to-be-screened point target and the buffer zone is determined based on the sequence of the no-fly zone coordinate points and the buffer zone position information, and then it is determined whether each minimum boundary distance is less than the observation range. If it is less than the observation range, an initial point target set is established based on the first to-be-screened point target. Further, the first observation point target between each second to-be-screened point target in the buffer zone and the first point target in the initial point target set is determined, and the second observation point target between each first observation point target in the initial point target set and the second to-be-screened point target in the buffer zone is determined, so as to construct an observation point set based on each second observation point target. Subsequently, 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, and then the observation point target corresponding to the highest value in each benefit value is set as an observation point, and the sub-set corresponding to the observation point is removed from the observation point set to obtain a processed set. Finally, it is determined whether the processed set is empty. If it is not empty, the step of obtaining the task information of all the first to-be-screened point targets located in the no-fly zone and the sequence of the no-fly zone coordinate points of the no-fly zone is re-executed. If the set is empty, the task information is planned based on the sub-set corresponding to each observation point. In this way, the efficiency of processing the point target group observation task corresponding to the no-fly zone is improved in the process of the no-fly zone point target group observation task processing of the unmanned aerial vehicle, and the user experience is improved.

[0082] Correspondingly, referring to Figure 6 As shown in the figure, the application further provides a no-fly zone point target group observation task processing device of an unmanned aerial vehicle, which comprises:

[0083] An observation range determining module 11 is configured to acquire task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone, determine a buffer zone and buffer zone position information according to a minimum safety distance, and then determine a user task allocation principle and an observation range; the buffer zone contains the no-fly zone; the minimum safety distance is a minimum distance at which an unmanned aerial vehicle is allowed to approach the no-fly zone for observation;

[0084] A boundary distance determining module 12 is configured to determine a minimum boundary distance between each of the first to-be-screened point targets and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone position information, and then determine whether each of the minimum boundary distances is less than the observation range, and if so, establish an initial point target set based on the first to-be-screened point targets;

[0085] An observation point set determining module 13 is configured to determine a first observation point target in the buffer zone, where a distance between the first observation point target and a first point target in the initial point target set is less than the observation range, and determine a second observation point target in the initial point target set, where a distance between the second observation point target 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;

[0086] An observation point position determining module 14 is configured to determine a user task allocation principle type corresponding to the observation point set, determine a benefit value of the observation point set based on the user task allocation principle type, set an observation point target corresponding to a highest benefit value in each of the benefit values as an observation point position, and remove a sub-set corresponding to the observation point position from the observation point set to obtain a processed set.

[0087] A step jumping module 15 is configured to determine whether the processed set is empty, and if not, jump back to the step of acquiring the task information of all the first to-be-screened point targets located in the no-fly zone and the no-fly zone coordinate point sequence of the no-fly zone, and if so, plan the task information based on the sub-set corresponding to each of the observation point positions.

[0088] As can be seen from the above, before the UAV forbidden area point target group observation task processing is performed, the task information of all first to-be-screened point targets located in the forbidden area and the forbidden area coordinate point sequence of the forbidden area need to be acquired first, and the buffer zone and the buffer zone position information are determined according to the minimum safety distance, and then the user task allocation principle and the observation range are determined; the buffer zone contains the forbidden area; secondly, the minimum boundary distance of each first to-be-screened point target and the buffer zone is determined based on the forbidden area coordinate point sequence and the buffer zone position information, and then it is judged whether each minimum boundary distance is less than the observation range, if less, an initial point target set is established based on the first to-be-screened point target; further, the first observation point target between each second to-be-screened point target in the buffer zone and the first point target in the initial point target set is determined to be less than the observation range, and the second observation point target between each first observation point target in the initial point target set and the observation range is determined to be less than the observation range, to construct an observation point set based on each second observation point target; subsequently, 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 value of each benefit value is set as an observation point position, and the sub-set corresponding to the observation point position is removed from the observation point set to obtain a processed set; finally, it is judged whether the processed set is an empty set, if not, the step of acquiring the task information of all first to-be-screened point targets located in the forbidden area and the forbidden area coordinate point sequence of the forbidden area is re-jumped, if yes, the task information is planned based on each sub-set corresponding to the observation point position. In this way, the efficiency of processing the point target group observation task corresponding to the forbidden area is improved in the process of the UAV forbidden area point target group observation task processing, and the user experience is improved.

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

[0090] A point target sequence number determination unit is configured to acquire the point target sequence number, the plane position coordinates and the integer type importance level value corresponding to all to-be-screened point targets located in the forbidden area; the greater the value corresponding to the importance level value, the greater the importance of the to-be-screened point target.

[0091] A coordinate point sequence determination unit is configured to establish the coordinate point sequence corresponding to the forbidden area by using a preset coordinate point sequence method and based on the plane position coordinates corresponding to each to-be-screened point target; the coordinate point sequence is a sequence of storing the plane position coordinates corresponding to each to-be-screened point target in the forbidden area in a clockwise direction or a counterclockwise direction.

[0092] In some embodiments, the observation range determining module 11 can specifically include:

[0093] a buffer zone determining unit configured to determine a minimum safety distance at which the UAV is allowed to approach the no-fly zone for observation, and determine a buffer zone and buffer zone position information based on the minimum safety distance; the buffer zone is a surface area surrounded by buffer zone position coordinates corresponding to a position boundary closest to the no-fly zone that the UAV can reach; the buffer zone contains the no-fly zone;

[0094] an observation radius determining unit configured to determine a user task allocation principle including a target quantity maximum principle and a target level highest principle, and then determine an observation radius of the UAV, and determine an observation range corresponding to the UAV based on the observation radius; the target quantity maximum principle is that the number of point targets allocated after task information allocation ends is greater than a preset number threshold; the target level highest principle is that the importance level of the point targets allocated after the task information allocation ends is greater than a preset and threshold; the task allocation principle is a benefit maximization index corresponding to a task allocation result.

[0095] In some embodiments, the boundary distance determining module 12 can specifically include:

[0096] a minimum boundary distance determining unit configured to determine buffer zone boundary position information corresponding to a buffer zone boundary of the buffer zone based on the buffer zone position information, and determine a minimum boundary distance between each first to-be-screened point target in the no-fly zone coordinate point sequence and the buffer zone based on the position coordinates corresponding to each first to-be-screened point target and the buffer zone boundary position information;

[0097] a minimum boundary distance judging unit configured to judge whether the minimum boundary distance corresponding to each first to-be-screened point target is less than the observation range, and if the minimum boundary distance is less than the observation range, store the first to-be-screened point target corresponding to the minimum boundary distance into an initial point target set.

[0098] a first point target elimination unit configured to, if the minimum boundary distance is not less than the observation range, eliminate the first to-be-screened point target corresponding to the minimum boundary distance.

[0099] In some embodiments, the observation point set determining module 13 can specifically include:

[0100] a target distance determination unit configured to determine a first point target in the initial point target set, and determine a target distance corresponding to each second to-be-screened point target based on coordinate information corresponding to the first point target and coordinate information corresponding to each second to-be-screened point target in the buffer area;

[0101] a point target storage unit configured to determine whether the target distance is less than the observation range, and if the target distance is less than the observation range, set the second to-be-screened point target corresponding to the target distance as an observation point target, and store the observation point target in an observation point set;

[0102] a second point target elimination unit configured to, if the target distance is not less than the observation range, eliminate the second to-be-screened point target corresponding to the target distance.

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

[0104] an observation point number determination unit configured to determine a user task allocation principle type corresponding to the observation point set, and if the user task allocation principle type corresponding to the observation point set is a target number maximum principle, determine an observation point number corresponding to each observation point target in the observation point set, and set the observation point number as an effectiveness value corresponding to the observation point set;

[0105] an effectiveness value determination unit configured to, if the user task allocation principle type corresponding to the observation point set is a target level highest principle, determine a level value sum of an importance level value corresponding to each observation point target in the observation point set, and set the level value sum as the effectiveness value corresponding to the observation point set;

[0106] a sub-set determination unit configured to set an observation point target corresponding to a highest value in each effectiveness value as an observation point position, determine a sub-set corresponding to the observation point position, and eliminate the sub-set from the observation point set to obtain a processed set.

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

[0108] a processed set judgment unit configured to determine whether the processed set is an empty set, and if the processed set is not an empty set, jump back to the step of obtaining task information of all to-be-screened point targets located in the flight restricted area and a flight restricted area coordinate point sequence of the flight restricted area;

[0109] The task allocation unit is configured to determine that the task information has been processed completely if the processed set is empty, and allocate the task information corresponding to the unmanned aerial vehicle based on the sub-set corresponding to each observation point, so as to plan the flight path of the unmanned aerial vehicle based on the task allocation information.

[0110] Further, the application further discloses an electronic device, Figure 7 is an electronic device 20 structure diagram according to an exemplary embodiment, the contents in the figure cannot be considered as any limitation on the use range of the application. The electronic device 20 can specifically include: at least one processor 21, at least one memory 22, power supply 23, communication interface 24, input output interface 25 and communication bus 26. Wherein, the memory 22 is used for storing computer programs, the computer programs are loaded and executed by the processor 21, to realize the related steps in the no-fly zone point target group observation task processing method of the unmanned aerial vehicle disclosed in any of the preceding embodiments. In addition, the electronic device 20 in the embodiment can be an electronic computer.

[0111] In the embodiment, the power supply 23 is used to provide working 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 the external device, and the communication protocol followed by the communication interface 24 can be any communication protocol applicable to the technical solution of the application, which is not limited here; the input output interface 25 is used to obtain external input data or output data to the outside world, and the specific interface type can be selected according to the specific application needs, which is not limited here.

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

[0113] Wherein, the operating system 221 is used to manage and control each hardware device on the electronic device 20 and the computer program 222, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program capable of completing the no-fly zone point target group observation task processing method of the unmanned aerial vehicle executed by the electronic device 20 disclosed in any of the preceding embodiments, the computer program 222 can further include computer programs capable of completing other specific work.

[0114] Further, the application also discloses a computer readable storage medium for storing a computer program, wherein the computer program is executed by a processor to realize the no-fly zone point target group observation task processing method of the unmanned aerial vehicle.

[0115] The various embodiments are described in a progressive manner in the specification, each of which focuses on the differences from other embodiments, and the same or similar parts of various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0116] The skilled person can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in a general manner in the above description. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

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

[0118] Finally, it should be noted that, in this document, relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0119] The technical solutions provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by using specific examples. The above description of the examples is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed, and the above description of the content of the specification should not be understood as a limitation on the present application.

Claims

1. A method for processing a point target group observation task of a no-fly zone of a UAV, characterized in that, The method comprises the following steps: acquiring task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone, and determining a buffer zone and buffer zone position information according to a minimum safety distance, and then determining a user task allocation principle and an observation range; the buffer zone contains the no-fly zone; the minimum safety distance is the minimum distance at which the unmanned aerial vehicle is allowed to approach the no-fly zone for observation; determining minimum boundary distances between each of the first to-be-screened point targets and the buffer zone based on the no-fly zone coordinate point sequence and the buffer zone position information, and then judging whether each of the minimum boundary distances is less than the observation range, if so, establishing an initial point target set based on the first to-be-screened point target; determining first observation point targets in each of the second to-be-screened point targets in the buffer zone and a first observation point target in the initial point target set, and determining second observation point targets in the initial point target set and each of the first observation point targets, and constructing an observation point set based on each of the second observation point targets; determining a user task allocation principle type corresponding to the observation point set, and determining benefit values of the observation point set based on the user task allocation principle type, and then setting an observation point target corresponding to a highest value of each of the benefit values as an observation point position, and removing a sub-set corresponding to the observation point position from the observation point set to obtain a processed set; judging whether the processed set is empty, if not, re-jumping to the step of acquiring task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone, if so, planning the task information based on each of the sub-sets corresponding to the observation point position. 2.The method of claim 1, wherein, The step of acquiring task information of all first to-be-screened point targets located in a no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone comprises the following steps: acquiring point target serial numbers, plane position coordinates and integer type importance level value corresponding to all to-be-screened point targets located in the no-fly zone; the greater the value corresponding to the importance level value is, the greater the importance corresponding to the to-be-screened point target is; establishing a coordinate point sequence corresponding to the no-fly zone based on the plane position coordinates corresponding to each of the to-be-screened point targets by using a preset coordinate point sequence mode; the coordinate point sequence is a sequence of storing the plane position coordinates corresponding to each of the to-be-screened point targets in the no-fly zone in a clockwise direction or a counterclockwise direction. 3.The method of claim 2, wherein, The step of determining a buffer zone and buffer zone position information according to a minimum safety distance, and then determining a user task allocation principle and an observation range comprises the following steps: determining a minimum safety distance at which the unmanned aerial vehicle is allowed to approach the no-fly zone for observation, and then determining a buffer zone and buffer zone position information based on the minimum safety distance; wherein the buffer zone is a plane region surrounded by buffer zone position coordinates corresponding to position boundaries closest to the no-fly zone that the unmanned aerial vehicle can reach; the buffer zone contains the no-fly zone. The user task allocation principle including the target quantity maximum principle and the target level highest principle is determined, and an observation radius of the UAV is determined to determine an observation range corresponding to the UAV based on the observation radius; the target quantity maximum principle is that a quantity of point targets allocated after task information allocation ends is greater than a preset quantity threshold; the target level highest principle is that an important level of the point target allocated after the task information allocation ends is greater than a preset and threshold; and the task allocation principle is a benefit maximization index corresponding to a task allocation result. 4.The method of claim 1, wherein, The minimum boundary distance of each first to-be-screened point target and the buffer area is determined based on the sequence of the no-fly area coordinate points and the buffer area position information, and then it is determined whether each minimum boundary distance is less than the observation range. If it is less than the observation range, an initial point target set is established based on the first to-be-screened point target, including: The buffer area boundary position information corresponding to the buffer area boundary of the buffer area is determined based on the buffer area position information, and the minimum boundary distance of the first to-be-screened point target and the buffer area is determined based on the position coordinates corresponding to each first to-be-screened point target in the sequence of the no-fly area coordinate points and the buffer area boundary position information; It is determined whether the minimum boundary distance corresponding to each first to-be-screened point target is less than the observation range. If the minimum boundary distance is less than the observation range, the first to-be-screened point target corresponding to the minimum boundary distance is stored in the initial point target set; If the minimum boundary distance is not less than the observation range, the first to-be-screened point target corresponding to the minimum boundary distance is eliminated.

5. The method of claim 1, wherein the method further comprises: The first observation point target in each second to-be-screened point target in the buffer area and the first point target in the initial point target set is determined to be less than the observation range, and the second observation point target in the initial point target set and each first observation point target is determined to be less than the observation range, to construct an observation point set based on each second observation point target, including: The first point target in the initial point target set is determined to determine the target distance corresponding to each second to-be-screened point target based on the coordinate information corresponding to the first point target and the coordinate information corresponding to each second to-be-screened point target in the buffer area; It is determined whether the target distance is less than the observation range. If the target distance is less than the observation range, the second to-be-screened point target corresponding to the target distance is set as an observation point target, and the observation point target is stored in the observation point set; If the target distance is not less than the observation range, the second to-be-screened point target corresponding to the target distance is eliminated.

6. The method of claim 3, wherein the method further comprises: 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 value in each benefit value is set as an observation point position, and the sub-set corresponding to the observation point position is eliminated from the observation point set to obtain a processed set, including: determining a 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 a target quantity maximum principle, determining a target observation point quantity corresponding to each observation point target in the observation point set, and setting the observation point quantity as a benefit value corresponding to the observation point set; if the user task allocation principle type corresponding to the observation point set is a target level highest principle, determining a level value sum of an importance level value corresponding to each observation point target in the observation point set, and setting the level value sum as a benefit value corresponding to the observation point set; setting an observation point target corresponding to a highest value in each benefit value as an observation point position, determining a sub-set corresponding to the observation point position, and then eliminating the sub-set in the observation point set to obtain a processed set.

7. The method of claim 1 to 6, wherein, judging whether the processed set is empty, if not, re-jumping to the step of obtaining the task information of all first to-be-screened point targets located in the flight restricted area and the flight restricted area coordinate point sequence of the flight restricted area, if yes, planning the task information based on the sub-set corresponding to each observation point position, including: judging whether the processed set is empty, if the processed set is not empty, re-jumping to the step of obtaining the task information of all to-be-screened point targets located in the flight restricted area and the flight restricted area coordinate point sequence of the flight restricted area; if the processed set is empty, determining that the task information has been processed, and performing task allocation on the task information corresponding to the unmanned aerial vehicle based on the sub-set corresponding to each observation point position, to plan a flight path of the unmanned aerial vehicle by using the task allocation information.

8. A no-fly zone point target group observation task processing device of a UAV, characterized in that, including: an observation range determination module, configured to obtain the task information of all first to-be-screened point targets located in the flight restricted area and the flight restricted area coordinate point sequence of the flight restricted area, and determine a buffer zone and buffer zone position information according to a minimum safety distance, and then determine a user task allocation principle and an observation range; the buffer zone contains the flight restricted area; the minimum safety distance is a minimum distance at which the unmanned aerial vehicle is allowed to approach the flight restricted area for observation; a boundary distance determination module, configured to determine a minimum boundary distance between each first to-be-screened point target and the buffer zone based on the flight restricted area coordinate point sequence and the buffer zone position information, and then judge whether each minimum boundary distance is less than the observation range, if yes, establishing an initial point target set based on the first to-be-screened point target; an observation point set determination module, configured to determine a first observation point target in each second to-be-screened point target in the buffer zone, the distance between which and a first point target in the initial point target set is less than the observation range, and determine a second observation point target in the initial point target set, the distance between which and each first observation point target is less than the observation range, to construct an observation point set based on each second observation point target; ​ An observation point position determination module is configured to determine a user task allocation principle type corresponding to the observation point set, determine benefit values of the observation point set based on the user task allocation principle type, set an observation point target corresponding to a highest benefit value among the benefit values as an observation point position, and remove a sub-set corresponding to the observation point position from the observation point set to obtain a processed set; A step jump module is configured to determine whether the processed set is empty. If the processed set is not empty, the step jump module jumps back to the step of obtaining task information of all first to-be-screened point targets located in the no-fly zone and a no-fly zone coordinate point sequence of the no-fly zone. If the processed set is empty, the task information is planned based on the sub-set corresponding to each observation point position.

9. An electronic device, comprising: Comprise: A memory is configured to save a computer program; A processor is configured to execute the computer program to implement the no-fly zone point target group observation task processing method of the unmanned aerial vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is saved, and the computer program is executed by a processor to implement the no-fly zone point target group observation task processing method of the unmanned aerial vehicle according to any one of claims 1 to 7.

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