CN-121999645-A - Unmanned aerial vehicle intelligent management platform unmanned aerial vehicle operation conflict detection and release method

CN121999645ACN 121999645 ACN121999645 ACN 121999645ACN-121999645-A

Abstract

The invention relates to a method for detecting and releasing unmanned aerial vehicle operation conflict of an unmanned aerial vehicle intelligent management platform, which comprises a method for acquiring a conflict unmanned aerial vehicle set and a method for releasing each unmanned aerial vehicle in the conflict unmanned aerial vehicle set, wherein the method for acquiring the conflict unmanned aerial vehicle set comprises the following steps of: the unmanned aerial vehicle conflict detection method is used for detecting whether each unmanned aerial vehicle has conflict with other unmanned aerial vehicles or not, and the method for carrying out the conflict resolution on each unmanned aerial vehicle in the conflict unmanned aerial vehicle set comprises the following steps of S1, obtaining the conflict resolution priority score kappa of each unmanned aerial vehicle in the conflict unmanned aerial vehicle set, S2, sequentially carrying out the conflict resolution on each unmanned aerial vehicle according to the conflict resolution priority, and the unmanned aerial vehicle operation conflict detection and resolution method of the unmanned aerial vehicle intelligent management platform can be used for identifying unmanned aerial vehicle conflicts in a prospective mode and giving different resolution priorities in combination with factors such as unmanned aerial vehicle states, task attributes and environmental risks, and is high in efficiency in conflict resolution scheduling of a multi-machine conflict scene, and operation safety and task execution efficiency of the unmanned aerial vehicles are considered.

Inventors

WANG YAN
ZHANG SHIQI
ZHENG YING
Ni Weigeng

Assignees

南通空天数智产业发展有限公司

Dates

Publication Date: 20260508
Application Date: 20260120

Claims (1)

1. The unmanned aerial vehicle operation conflict detection and resolution method of the unmanned aerial vehicle intelligent management platform comprises a method for acquiring a conflict unmanned aerial vehicle set and a method for resolving each unmanned aerial vehicle in the conflict unmanned aerial vehicle set, wherein the conflict unmanned aerial vehicle set comprises all unmanned aerial vehicles with conflicts in an unmanned aerial vehicle cluster, and is characterized in that the method for acquiring the conflict unmanned aerial vehicle set comprises the following steps of; sequentially detecting whether each unmanned aerial vehicle in the unmanned aerial vehicle cluster has conflict with other unmanned aerial vehicles or not through an unmanned aerial vehicle conflict detection method, and calling a set of all unmanned aerial vehicles which have conflict with the unmanned aerial vehicle as a conflict subset of the unmanned aerial vehicle, and if the conflict subset is not empty, merging the unmanned aerial vehicle and the conflict subset thereof into the conflict unmanned aerial vehicle set; the unmanned aerial vehicle conflict detection method comprises the following steps of; The unmanned aerial vehicle of the pre-acquired conflict subset is called as a main unmanned aerial vehicle, and the unmanned aerial vehicle to be detected whether the conflict exists with the main unmanned aerial vehicle or not is called as the unmanned aerial vehicle to be detected; The method comprises the steps that a protection area of a main unmanned aerial vehicle is obtained, the protection area of the main unmanned aerial vehicle is a spherical area taking the center of the main unmanned aerial vehicle as the center of sphere, the radius of the spherical area is the sum of the minimum outer sphere receiving radius of the main unmanned aerial vehicle and the minimum outer sphere receiving radius of an unmanned aerial vehicle to be detected, and the minimum outer sphere receiving radius of the main unmanned aerial vehicle or the unmanned aerial vehicle to be detected is obtained through the following steps of; ; Wherein r is the maximum width of the body of the unmanned aerial vehicle in the horizontal direction, and h is the height of the body of the unmanned aerial vehicle; Acquiring a cone taking a straight line passing through the center of the main unmanned aerial vehicle and the unmanned aerial vehicle to be detected as a rotation axis, taking the center of the main unmanned aerial vehicle as a vertex, and taking a ray tangent to a protection area of the main unmanned aerial vehicle as a bus, and obtaining a collision cone of the unmanned aerial vehicle to be detected relative to the main unmanned aerial vehicle; Taking the center of the unmanned aerial vehicle to be detected as a starting point, if the speed vector of the unmanned aerial vehicle to be detected relative to the main unmanned aerial vehicle is positioned in a collision cone of the unmanned aerial vehicle to be detected relative to the main unmanned aerial vehicle, judging that the unmanned aerial vehicle to be detected causes an obstacle to the main unmanned aerial vehicle, namely that a conflict exists between the main unmanned aerial vehicle and the unmanned aerial vehicle to be detected, and adding the unmanned aerial vehicle to be detected into a conflict subset of the main unmanned aerial vehicle at the moment; the method for releasing each unmanned aerial vehicle in the conflict unmanned aerial vehicle set comprises the following steps of; s1, acquiring a release priority score kappa of each unmanned aerial vehicle in a conflict unmanned aerial vehicle set by the following method; ; Wherein, T is the task type score of the unmanned aerial vehicle, T max is the maximum value of the task type scores of all the conflict unmanned aerial vehicles in the conflict unmanned aerial vehicle set, w 1 is the weight coefficient of the task type priority degree, S is the self state score of the unmanned aerial vehicle, S max is the self state score maximum value of all the conflict unmanned aerial vehicles in the conflict unmanned aerial vehicle set, w 2 is the weight coefficient of the self state of the unmanned aerial vehicle, R is the environmental risk score of the unmanned aerial vehicle, R max is the maximum value of the environmental risk score of all the conflict unmanned aerial vehicles in the conflict unmanned aerial vehicle set, w 3 is the weight coefficient of the environmental risk, U is the conflict urgency score of the unmanned aerial vehicle, U max is the conflict urgency score maximum value of all the conflict unmanned aerial vehicles in the conflict unmanned aerial vehicle set, and w 4 is the weight coefficient of the conflict urgency; The task type score of the unmanned aerial vehicle is a predefined score corresponding to the type of the task being executed by the unmanned aerial vehicle; the self-state score of the unmanned aerial vehicle is a predefined score corresponding to the real-time running state and the load characteristic of the unmanned aerial vehicle; the environmental risk score of the unmanned aerial vehicle refers to a predefined score corresponding to the environmental safety risk level of the airspace in which the unmanned aerial vehicle is located; The conflict urgency score of the unmanned aerial vehicle is obtained by the following formula; Wherein t=d/v, which is the expected collision time between the unmanned aerial vehicle and the collision unmanned aerial vehicle, d and v are the relative distance and the relative speed between the unmanned aerial vehicle and the collision unmanned aerial vehicle at the collision judgment moment, Γ is all unmanned aerial vehicles in the collision subset of the unmanned aerial vehicle, and max is the maximum function; S2, sequentially releasing all unmanned aerial vehicles in the conflict unmanned aerial vehicle set according to the order of the release priority from high to low; the method for releasing each unmanned aerial vehicle comprises the following steps of; S21, acquiring a conflict subset of the unmanned aerial vehicle to be resolved; S21, sequentially regulating and controlling all unmanned aerial vehicles in the conflict subset according to the following steps; Taking the center of the unmanned aerial vehicle to be regulated as a starting point, when the speed vector of the unmanned aerial vehicle to be regulated, which is opposite to the unmanned aerial vehicle to be released, is positioned in a half collision cone area of one side of the collision cone of the unmanned aerial vehicle to be released, which is close to the speed vector of the unmanned aerial vehicle to be regulated, carrying out acceleration regulation on the unmanned aerial vehicle to be regulated until the speed vector of the unmanned aerial vehicle to be regulated, which is opposite to the unmanned aerial vehicle to be released, moves out of the collision cone after acceleration; When the speed vector of the unmanned aerial vehicle to be regulated and controlled relative to the unmanned aerial vehicle to be released is positioned in a half collision cone area of one side of the collision cone of the unmanned aerial vehicle to be released, which is far away from the speed vector of the unmanned aerial vehicle to be regulated and controlled, or the speed vector of the unmanned aerial vehicle to be regulated and controlled is positioned in the collision cone, the unmanned aerial vehicle to be regulated and controlled is subjected to speed reduction regulation and control until the speed vector of the unmanned aerial vehicle to be regulated and controlled relative to the unmanned aerial vehicle to be released moves out of the collision cone after speed reduction; S3, after the speed of each conflict unmanned aerial vehicle is regulated and controlled according to the step S2, the conflict of the unmanned aerial vehicles is reevaluated according to the method for obtaining the conflict unmanned aerial vehicle set, the conflict unmanned aerial vehicle set is obtained, and if the conflict unmanned aerial vehicle set is not empty, each conflict unmanned aerial vehicle is continuously released according to the method for releasing each unmanned aerial vehicle in the conflict unmanned aerial vehicle set.

Description

Unmanned aerial vehicle intelligent management platform unmanned aerial vehicle operation conflict detection and release method Technical Field The invention relates to an unmanned aerial vehicle conflict detection and release method, in particular to an unmanned aerial vehicle operation conflict detection and release method of an unmanned aerial vehicle intelligent management platform. Background Along with the rapid development of unmanned aerial vehicle technology, more unmanned aerial vehicles soar in urban low altitude to various tasks such as supervision monitoring, creative performance, emergency relaxation and business inspection are accomplished to the high efficiency. Under most scenes, unmanned aerial vehicles need to operate in a cluster cooperative mode, so that a management platform is required to finely manage and control each unmanned aerial vehicle, and damage and even crash accidents caused by collision among unmanned aerial vehicles are avoided. In the past, the scale of the unmanned aerial vehicle system is relatively limited, and the management platform can effectively control a small number of unmanned aerial vehicles through a traditional passive obstacle avoidance and general regulation and control mode. At present, along with urban low-altitude fusion and large-scale cluster operation demand explosion, the limitations of the existing management platform are gradually highlighted, namely, on one hand, the stress level of low-altitude resources is continuously improved, the traditional mode of 'passive obstacle avoidance and general regulation' is difficult to cope with high-concurrency conflict scenes, and on the other hand, the management platform is required to have the capability of 'look-ahead conflict identification and differential conflict resolution', due to the priority differences of different operation tasks (such as emergency rescue and business inspection) and the safety demands of the self states (such as low power and special loads) of the unmanned aerial vehicle. Under the driving of the industrial and technical requirements, an unmanned aerial vehicle intelligent management platform with global perception, multidimensional decision and dynamic regulation and control characteristics becomes a core research and development direction in the current field. Disclosure of Invention The unmanned aerial vehicle intelligent management platform unmanned aerial vehicle operation conflict detection and release method can be used for solving the technical problems that the existing unmanned aerial vehicle management platform conflict identification is poor in prospective, the release strategy is lack of differential adaptation and the applicability of multiple scenes is narrow. The unmanned aerial vehicle operation conflict detection and resolution method of the unmanned aerial vehicle intelligent management platform comprises a method for acquiring a conflict unmanned aerial vehicle set and a method for resolving each unmanned aerial vehicle in the conflict unmanned aerial vehicle set, wherein the conflict unmanned aerial vehicle set comprises all the unmanned aerial vehicles with conflicts in an unmanned aerial vehicle cluster, and the method for acquiring the conflict unmanned aerial vehicle set comprises the following steps of; sequentially detecting whether each unmanned aerial vehicle in the unmanned aerial vehicle cluster has conflict with other unmanned aerial vehicles or not through an unmanned aerial vehicle conflict detection method, and calling a set of all unmanned aerial vehicles which have conflict with the unmanned aerial vehicle as a conflict subset of the unmanned aerial vehicle, and if the conflict subset is not empty, merging the unmanned aerial vehicle and the conflict subset thereof into the conflict unmanned aerial vehicle set; the unmanned aerial vehicle conflict detection method comprises the following steps of; The unmanned aerial vehicle of the pre-acquired conflict subset is called as a main unmanned aerial vehicle, and the unmanned aerial vehicle to be detected whether the conflict exists with the main unmanned aerial vehicle or not is called as the unmanned aerial vehicle to be detected; The method comprises the steps that a protection area of a main unmanned aerial vehicle is obtained, the protection area of the main unmanned aerial vehicle is a spherical area taking the center of the main unmanned aerial vehicle as the center of sphere, the radius of the spherical area is the sum of the minimum outer sphere receiving radius of the main unmanned aerial vehicle and the minimum outer sphere receiving radius of an unmanned aerial vehicle to be detected, and the minimum outer sphere receiving radius of the main unmanned aerial vehicle or the unmanned aerial vehicle to be detected is obtained through the following steps of; ; Wherein r is the maximum width of the body of the unmanned aerial vehicle in the horizontal direction, and h is the height of the