US 12,085,959 B2
Unmanned aerial vehicle cluster system, method, apparatus, and system of launching, and readable medium
Bo Zhang, Beijing (CN); Hang Ba, Beijing (CN); Chengxian Sha, Beijing (CN); Longfei Zheng, Beijing (CN); and Yunan Chen, Beijing (CN)
Assigned to BEIJING JINGDONG QIANSHI TECHNOLOGY CO., LTD., Beijing (CN)
Appl. No. 17/440,553
Filed by BEIJING JINGDONG QIANSHI TECHNOLOGY CO., LTD., Beijing (CN)
PCT Filed Jan. 14, 2020, PCT No. PCT/CN2020/071995
§ 371(c)(1), (2) Date Sep. 17, 2021,
PCT Pub. No. WO2020/186919, PCT Pub. Date Sep. 24, 2020.
Claims priority of application No. 201910207380.9 (CN), filed on Mar. 18, 2019.
Prior Publication US 2022/0147062 A1, May 12, 2022
Int. Cl. G05D 1/00 (2024.01); B64C 39/02 (2023.01); B64U 80/70 (2023.01)
CPC G05D 1/104 (2013.01) [B64C 39/024 (2013.01); G05D 1/102 (2013.01); B64U 80/70 (2023.01); B64U 2201/102 (2023.01)] 11 Claims
OG exemplary drawing
 
1. A method of launching an unmanned aerial vehicle cluster comprising a plurality of unmanned aerial vehicles located in a launch area, the method comprising:
acquiring launch positions for the plurality of unmanned aerial vehicles in the launch area;
acquiring an assembly area corresponding to the launch area, wherein the assembly area comprises a plurality of target positions;
determining a target position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles according to the launch positions for the plurality of unmanned aerial vehicles and the plurality of target positions; and
launching the plurality of unmanned aerial vehicles according to the launch position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles and the target position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles, comprising:
determining a flight path of each unmanned aerial vehicle of the plurality of unmanned aerial vehicles according to the launch position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles and the target position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles;
determining a shortest distance between the flight paths of every two unmanned aerial vehicles of the plurality of unmanned aerial vehicles, as a first distance;
determining a launch time of each unmanned aerial vehicle of the plurality of unmanned aerial vehicles according to the first distance; and
launching each unmanned aerial vehicle of the plurality of unmanned aerial vehicles according to the launch position for each unmanned aerial vehicle of the plurality of unmanned aerial vehicles and the flight path of each unmanned aerial vehicle of the plurality of unmanned aerial vehicles,
wherein different launch times for the two unmanned aerial vehicles are set in a case that the first distance is less than a preset distance and a same launch time for the two unmanned aerial vehicles is set in a case that the first distance is not less than the preset distance.