CN112904886A - Unmanned aerial vehicle flight control method and device, computer equipment and storage medium - Google Patents
Unmanned aerial vehicle flight control method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a flight control method and device for an unmanned aerial vehicle, computer equipment and a storage medium. Inquiring the unmanned aerial vehicle to take off by acquiring the take-off and landing site occupation message, and sending an unmanned aerial vehicle confirmation message to a ground service terminal; when receiving an unmanned aerial vehicle power-on message sent by a ground service terminal, acquiring real-time meteorological data; when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and the take-off and landing field release message sent by the ground service terminal is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message; and after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message. This application is through taking up the message after receiving the take-off and landing place, acquireing ground service terminal unmanned aerial vehicle and going up the electric message to and take-off and landing place release message, combine real-time meteorological state to control unmanned aerial vehicle and take off the operation, take up the message through the airspace at unmanned aerial vehicle flight from the take-off and landing place in-process simultaneously, warn that the take-off and landing place airspace is occupied, improve the security that unmanned aerial vehicle took off the process.
Description
Technical Field
The application relates to the field of computers, in particular to a flight control method and device for an unmanned aerial vehicle, computer equipment and a storage medium.
Background
An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, and the application of the unmanned aerial vehicle is greatly expanded.
The most probable stage of safety risk appears for unmanned aerial vehicle is the stage of taking off and land, is similar to civil aviation, navigation aircraft, and the majority trouble of aircraft itself all appears at the in-process from static state to normal cruise state, and the trouble that external factor caused also appears in this stage more, like birds striking, wind shear etc. but civil aviation aircraft has a large amount of supporting auxiliary personnel in the stage of taking off and land, and each division of duties, if take pictures this set directly to unmanned aerial vehicle stage of taking off and land, will lose unmanned aerial vehicle's meaning and value.
Disclosure of Invention
Therefore, it is necessary to provide a flight control method, device, computer equipment and storage medium for an unmanned aerial vehicle, which can improve the safety of the unmanned aerial vehicle in the takeoff process, in order to solve the problem that the safety of the unmanned aerial vehicle is easy to be low in the takeoff phase.
A method of drone flight control, the method comprising:
receiving a take-off and landing site occupation message, inquiring an unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to a ground service terminal;
when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data;
when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and a landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message;
and after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field, sending an airspace occupation cancellation message.
In one embodiment, the controlling the unmanned aerial vehicle to take off further includes, after sending the airspace occupancy message:
when the take-off and landing site occupation message is acquired, inquiring a second unmanned aerial vehicle to be taken off in the next order of the unmanned aerial vehicle to be taken off in the preset take-off sequence information;
and taking the second unmanned aerial vehicle to take off as the unmanned aerial vehicle to take off, returning to the step of sending the unmanned aerial vehicle confirmation message to the ground service terminal, and sending the airspace occupation cancellation message.
In one embodiment, after the acquiring the real-time meteorological data, the method further includes:
and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
In one embodiment, after the sending the airspace occupancy cancellation message, the method further includes:
when the unmanned aerial vehicle to be landed enters a preset airspace range of the landing field, sending an airspace occupation message;
and controlling the unmanned aerial vehicle to land to send an airspace occupation cancellation message.
In one embodiment, before sending the airspace occupancy message, the method further includes:
and when the unmanned aerial vehicle to be landed enters the preset alarm range of the take-off and landing field, sending an airport pickup prompt message and an unmanned aerial vehicle clearing prompt message.
In one embodiment, after the sending the airport departure prompting message and the unmanned aerial vehicle departure prompting message, the method further includes:
when the taking-off and landing site occupation message is received and the taking-off and landing site release message is not received, sending a taking-off confirmation inquiry message to the ground service terminal;
acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message;
when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data support the takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the take-off and landing field to take off and sending an airspace occupation message;
and when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
An unmanned aerial vehicle flight control apparatus, the apparatus comprising:
the information inquiry module is used for acquiring the take-off and landing site occupation information, inquiring the unmanned aerial vehicle to take off and sending an unmanned aerial vehicle confirmation message to the ground service terminal;
the meteorological data acquisition module is used for acquiring real-time meteorological data when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off;
the take-off control module is used for controlling the unmanned aerial vehicle to take off and sending an airspace occupation message when the real-time meteorological data supports the take-off of the unmanned aerial vehicle and receives a take-off and landing field release message sent by the ground service terminal according to the real-time condition of the take-off and landing field;
and the occupancy control module is used for sending an airspace occupancy cancellation message after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field.
In one embodiment, the system further comprises a timeout reminding module, configured to:
and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
A computer device comprises a memory and a processor, wherein the memory stores a computer program, and is used for acquiring a take-off and landing field occupation message sent by a ground service terminal and inquiring a current unmanned aerial vehicle to take off;
acquiring a take-off and landing site occupation message, inquiring an unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to a ground service terminal;
when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data;
when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and a landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message;
and after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field, sending an airspace occupation cancellation message.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a take-off and landing site occupation message, inquiring an unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to a ground service terminal;
when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data;
when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and a landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message;
and after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field, sending an airspace occupation cancellation message.
According to the unmanned aerial vehicle flight control method, the unmanned aerial vehicle flight control device, the computer equipment and the storage medium, the unmanned aerial vehicle to take off is inquired by acquiring the take-off and landing field occupation message, and the unmanned aerial vehicle confirmation message is sent to the ground service terminal; when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data; when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and the landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message; and after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message. This application is through taking up the message after receiving the take-off and landing place, acquire ground service terminal and carry out the unmanned aerial vehicle power-on message that confirms to the take-off and landing place release message that confirms to the take-off and landing place state, combine real-time meteorological state to control unmanned aerial vehicle and take off the operation, fly off the take-off and landing place in-process at unmanned aerial vehicle simultaneously and take up the message through the airspace, it is occupied to warn the take-off and landing place airspace, improve the security that unmanned aerial vehicle took off the process.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of an application environment for a method for flight control of an unmanned aerial vehicle;
FIG. 2 is a schematic flow chart of a method for controlling the flight of an unmanned aerial vehicle according to an embodiment;
fig. 3 is a schematic flow chart of a flight control method of the unmanned aerial vehicle in another embodiment;
FIG. 4 is a block diagram of an embodiment of an unmanned aerial vehicle flight control apparatus;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The unmanned aerial vehicle flight method can be applied to the application environment shown in figure 1. The ground service terminal 102 may communicate with the server 104 through a network, and specifically, the ground service terminal and the server may perform interaction of a switching signal through the network, and the ground service terminal includes a communication device of a ground service worker, and the communication device may perform a network call with the server 104. The ground service terminal can include all kinds of signal lamps and sound generating mechanism, and the server can acquire the message of ground service terminal transmission through sensor detection acoustic-optical signal. The ground service terminal 102 can send a take-off and landing site occupation message to the server, and the server 104 acquires the take-off and landing site occupation message, queries an unmanned aerial vehicle to take off, and sends an unmanned aerial vehicle confirmation message to the ground service terminal; when receiving an unmanned aerial vehicle power-on message sent by a ground service terminal according to an unmanned aerial vehicle confirmation message and the real-time condition of an unmanned aerial vehicle to take off, acquiring real-time meteorological data, wherein the power-on means that the unmanned aerial vehicle is powered on and is in a stage of preparation for starting; when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and the landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message; and after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message. And all the servers are communicated with the ground service terminal and are transmitted through the switching value signals, and all the logic states complete interaction through the switching value signals. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.
In one embodiment, as shown in fig. 2, there is provided a flight control method for an unmanned aerial vehicle, which is described by taking the method as an example applied to the server side in fig. 1, and includes the following steps:
s200, the server acquires the take-off and landing site occupation message, queries the unmanned aerial vehicle to take off, and sends the unmanned aerial vehicle confirmation message to the ground service terminal.
The ground service terminal is a terminal where ground service workers are located and comprises a communication terminal and an alarm terminal. The ground service is responsible for the work before the unmanned aerial vehicle takes off and after the unmanned aerial vehicle lands, including the unmanned aerial vehicle state of inspection (whether the surface is damaged, is out of shape, crackle, whether the fastener is become flexible etc. unmanned aerial vehicle trouble), change battery or goods carry and inspect the real-time situation of the field of taking off and landing etc.. Ground service staff can feed back the state information of the unmanned aerial vehicle and the airport to the server through the ground service terminal. The take-off and landing field occupation message means whether a take-off task or a landing task is currently carried out in the take-off and landing field, and when the take-off task or the landing task does not exist, the ground service worker can send the take-off and landing field occupation message to the server to start a take-off process. The unmanned aerial vehicle to take off is an unmanned aerial vehicle with the first rank in a preset unmanned aerial vehicle take-off sequence in a ground service terminal corresponding to the take-off and landing field. The server can inquire the unmanned aerial vehicle to be taken off currently according to the originally set taking-off sequence. After the query confirmation is completed, the server may feed back a corresponding unmanned aerial vehicle confirmation message to the ground service terminal. In one embodiment, the landing floor occupancy message may be implemented by a preset audible and visual alarm. When the unmanned aerial vehicle that needs take off, ground service staff gets into the field of taking off and land, opens audible-visual annunciator, through the audible-visual signal that lasts, warns that the field of taking off and land is currently in the occupation state. And then the server detects acousto-optic signals through the sensor, and inquires the unmanned aerial vehicle to take off which is ranked first in the take-off sequence of the preset unmanned aerial vehicle after confirming the occupation state of the take-off and landing field. The unmanned aerial vehicle confirmation message can be realized through a corresponding signal lamp.
S400, when receiving the unmanned aerial vehicle power-on message sent by the ground service terminal according to the unmanned aerial vehicle confirmation message and the real-time condition of the unmanned aerial vehicle to take off, acquiring real-time meteorological data.
Ground service staff can power on the current unmanned aerial vehicle to take off after confirming that the state of the unmanned aerial vehicle is fault-free, and simultaneously sends a power-on message of the unmanned aerial vehicle to the server. Wherein the unmanned aerial vehicle state includes the non-visual inspection trouble, if the unmanned aerial vehicle fastener is not hard up, including screw nut, connector, electric plug. The unmanned aerial vehicle organism is not damaged deformation fracture etc.. The unmanned aerial vehicle power-on message is used for reminding the server that the unmanned aerial vehicle to take off is powered on and finished, and corresponding take-off control instructions can be sent to the unmanned aerial vehicle through the server to execute take-off operation. In addition, the unmanned aerial vehicle for special application still needs to carry out corresponding processing, and then the unmanned aerial vehicle power-on message is sent. For a freight drone, the cargo to be loaded is loaded into the drone cargo frame. In addition, after the ground service terminal sends the unmanned aerial vehicle power-on message, a take-off and landing field occupation cancellation message is also sent to cancel the occupation of the take-off and landing field. In addition, the server is also connected with a meteorological sensor, and real-time meteorological data can be acquired through the meteorological sensor. If the meteorological data exceed the preset threshold value of the unmanned aerial vehicle, the system can be in an early warning prompting state. The process of detecting meteorological data comprises detecting the wind direction and the wind speed of the current external environment through a wind direction anemoscope, detecting the humidity of the current external environment through a humidity sensor, and detecting the signal interference of the current external environment through an electromagnetic radiation detector. As long as one of the meteorological data exceeds a preset numerical value, the unmanned aerial vehicle can not take off.
S600, when the real-time meteorological data support the unmanned aerial vehicle to take off and the take-off and landing field release message sent by the ground service terminal according to the real-time condition of the take-off and landing field is received, the unmanned aerial vehicle to take off is controlled to take off and the airspace occupation message is sent.
When ground staff power-on the unmanned aerial vehicle to take off, the state of the take-off and landing field where the current unmanned aerial vehicle is located needs to be checked and confirmed, and after the condition that the take-off and landing field has the unmanned aerial vehicle is confirmed to be correct, a take-off and landing field release message can be sent to the server to prompt that the take-off and landing preparation work of the current take-off and landing field is completed. When the server detects that the current meteorological conditions meet the takeoff requirement and receives a takeoff and landing field release message sent by the ground service terminal according to the real-time condition of the takeoff and landing field, the takeoff preparation can be judged to be completely completed, at the moment, the unmanned aerial vehicle to be taken off can be directly controlled to take off, and the airspace occupation message is sent. The airspace occupation message can be realized through the light signal of the airspace occupation lamp, and when the airspace occupation lamp is opened, other unmanned aerial vehicles in the airspace range are forbidden to take off and land.
And S800, after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message.
The preset airspace range may be a 350-meter square circle with the take-off and landing field as the center. After unmanned aerial vehicle takes off, in order to avoid flying away from the safety accident that appears in the field of taking off and landing at unmanned aerial vehicle, guarantee the absolute safety in airspace, only an unmanned aerial vehicle need be guaranteed in predetermineeing the airspace within range. And after the current unmanned aerial vehicle to take off flies away from the preset airspace range, the current airspace occupancy lamp can be turned off by sending an airspace occupancy cancellation message, and the flight control process of taking off of one round of unmanned aerial vehicle is finished. The distance information between the unmanned aerial vehicle to take off and the landing field can be acquired by reading the positioning information of the unmanned aerial vehicle to take off through the server.
According to the unmanned aerial vehicle flight control method, the unmanned aerial vehicle to take off is inquired by acquiring the take-off and landing site occupation message, and the unmanned aerial vehicle confirmation message is sent to the ground service terminal; when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data; when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and the landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message; and after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message. This application is through taking up the message after receiving the take-off and landing place, acquire ground service terminal and carry out the unmanned aerial vehicle power-on message that confirms to the take-off and landing place release message that confirms to the take-off and landing place state, combine real-time meteorological state to control unmanned aerial vehicle and take off the operation, fly off the take-off and landing place in-process at unmanned aerial vehicle simultaneously and take up the message through the airspace, it is occupied to warn the take-off and landing place airspace, improve the security that unmanned aerial vehicle took off the process.
In one embodiment, after S600, the method further includes:
when the take-off and landing site occupation message is acquired, inquiring a second unmanned aerial vehicle to be taken off in the next order of the unmanned aerial vehicles to be taken off in the preset take-off sequence information;
and taking the second unmanned aerial vehicle to be taken off as the unmanned aerial vehicle to be taken off, returning to the step of sending the unmanned aerial vehicle confirmation message to the ground service terminal, and sending the airspace occupation cancellation message.
The unmanned aerial vehicle flight control method can also be applied to the large-scale unmanned aerial vehicle take-off and landing process. The large-scale take-off and landing process of the unmanned aerial vehicles refers to that all unmanned aerial vehicles to be taken off in the operation take-off and landing field take off in sequence according to a preset take-off sequence. At the in-process of taking off and landing at every turn, ground service terminal will send the field of taking off and landing to occupy the cancellation message and cancel the taking off and landing occupation of field of taking off and landing after sending unmanned aerial vehicle power-on message to the server, then after seeing that the server operation is finished and waiting to take off the unmanned aerial vehicle execution operation of taking off at present, ground service staff of ground service terminal side can be in order to carry out the unmanned aerial vehicle operation of taking off of next round. The method comprises the steps of firstly sending a take-off and landing field occupation message to a server, then detecting the real-time condition of a second unmanned aerial vehicle to be taken off in a preset take-off sequence, and sending an unmanned aerial vehicle power-on message and a take-off and landing field release message to the server according to the detection condition. And after the server operates the takeoff process of the current unmanned aerial vehicle to be taken off, the server can directly inquire a preset takeoff sequence, the second unmanned aerial vehicle to be taken off in the next sequence of the unmanned aerial vehicle to be taken off which takes off is finished takes off, after receiving the power-on message of the unmanned aerial vehicle sent by the ground service terminal and the release message of the take-off and landing field, the server can detect real-time meteorological data through each meteorological sensor again, judge whether the takeoff condition is met currently, and when the takeoff condition is met, the second unmanned aerial vehicle to be taken off can be controlled to take off. Particularly, if the lamp is still in the on-state in the airspace this moment, the server can not control unmanned aerial vehicle to take off, treat that current unmanned aerial vehicle flies from the preset airspace scope after, the airspace occupies the lamp and switches into off-state after, the server just can control unmanned aerial vehicle to take off. In one embodiment, the predetermined airspace range is 350 meters. And the current unmanned aerial vehicle to take off flies away from 350m meters, which takes about 1 minute, if the crew member can finish all the inspections in the period of time, if the time is controlled well, the unmanned aerial vehicle almost does not need to wait for the space occupation lamp to switch to the off state. Assuming that the performance of the drone is not abnormal, the ground crew does not complete the job within the specified time, and the system will record the number of times out. Assuming that ground crew work efficiency is not an issue, the same problem may occur after a certain batch of drones has flown for a while, for example, a screw at a certain position becomes loose. And the server evaluates the performance state of the unmanned aerial vehicle according to the overtime condition and the checking condition. When all the conditions are met, the server controls the second unmanned aerial vehicle to take off, the space area occupancy lamp is turned on, and after the second unmanned aerial vehicle to take off flies away from the 350m space area, the space area occupancy lamp is turned off. Can improve batched unmanned aerial vehicle's efficiency of taking off and land through the control flow of taking off and land to unmanned aerial vehicle.
As shown in fig. 3, in one embodiment, after step S400, the method further includes:
and S520, when the take-off and landing site release message is not received within the preset take-off and landing site occupation time limit, sending an overtime reminding message to the ground service terminal.
If the server does not receive the take-off and landing site release message within the preset take-off and landing site occupation time limit when the unmanned aerial vehicle power-on message is received, the server defaults that the take-off and landing site is abnormal. The judgment logic of the server is as follows: the unmanned aerial vehicle is electrified to have a take-off condition, the take-off and landing field is still in an occupied state within the specified time, the take-off and landing field is in an abnormal state, and the unmanned aerial vehicle is possibly abnormal (the unmanned aerial vehicle finds faults through self-inspection after electrification and ground crew finds faults after electrification) or abnormal (a third party human or animal enters the take-off and landing field, the ground crew is injured, the ground crew handles other things and the like), so that the unmanned aerial vehicle cannot be operated to take off. The server can specifically send an overtime reminding message through the buzzer to remind whether the ground service is forgotten or not, and the current take-off process of the unmanned aerial vehicle can be operated until the server receives a take-off and landing place release instruction. Can come to effectively remind in order to improve the work efficiency that unmanned aerial vehicle took off and land ground service staff through overtime warning message.
In one embodiment, after sending the airspace occupancy cancellation message, the method further includes:
when the unmanned aerial vehicle to be landed enters a preset airspace range of a landing field, sending an airspace occupation message;
and controlling the unmanned aerial vehicle to land, and sending an airspace occupation cancellation message.
In addition, the server can also control the descending operation of waiting to descend the unmanned aerial vehicle at the field of taking off and landing, after waiting to descend the unmanned aerial vehicle and get into the preset airspace range in the field of taking off and landing, the server sends the airspace and occupies message control airspace and occupy the lamp and light, forbids this airspace to have other unmanned aerial vehicles to enter the field to descend, and then the server direct control waits to descend the unmanned aerial vehicle and descend the operation at current field of taking off and landing.
In one embodiment, before sending the airspace occupancy message, the method further includes: and when the unmanned aerial vehicle to be landed enters a preset alarm range of the take-off and landing field, sending an airport pickup prompt message and an unmanned aerial vehicle clearing prompt message.
This application still is provided with the preset alarm range in the place of taking off and landing, preset alarm range is bigger than preset airspace range, wait to descend unmanned aerial vehicle fly to the place of taking off and landing and predetermine before the airspace range, need advance to go into preset alarm range, the server can send airport pickup suggestion cancellation message and clear field suggestion cancellation message through audible-visual annunciator and bee calling organ this moment, come to remind ground service staff in the place of taking off and landing, ground service staff can carry out clear field operation and airport pickup preliminary treatment work to the place of taking off and landing according to audible-visual annunciator and bee calling organ, when unmanned aerial vehicle descends and accomplishes, send airspace and occupy the cancellation message, after the control airspace occupies the lamp and closes, the server can send airport pickup suggestion cancellation message and clear field suggestion cancellation message, audible-visual annunciator and bee calling organ are closed in direct.
In one embodiment, after sending the airport departure prompting message and the unmanned aerial vehicle departure prompting message, the method further includes:
and when the taking-off and landing site occupation message is received and the taking-off and landing site release message is not received, sending a taking-off confirmation inquiry message to the ground service terminal.
And acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message.
And when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data supports the takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the take-off and landing field to take off and sending an airspace occupation message.
And when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
After the unmanned aerial vehicle to be landed enters the preset alarm range, if the take-off and landing site occupation message is received and the take-off and landing site release message is not received at the moment, namely the take-off and landing site is occupied, the unmanned aerial vehicle is in the process of taking off operation. The server can send a take-off confirmation inquiry message to the ground service terminal, ground service staff can feed back the take-off confirmation inquiry message, if the take-off operation can be completed before the unmanned aerial vehicle to be landed enters a preset airspace range of a take-off and landing field, the current take-off and landing process can be continued, and if the take-off operation cannot be completed, the field clearing operation is performed. And when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data supports the takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the current landing field to take off and sending an airspace occupation message. And when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle field clearing prompt message to the ground service terminal. And carrying out the field cleaning operation of the take-off and landing field. The above processes can be transmitted by the switching value signal, and all logic states are interacted by the switching value signal. Through the interaction of ground service terminal and server, the security of unmanned aerial vehicle machine landing process can be effectively improved.
In a specific embodiment, the unmanned aerial vehicle flight control method controls the landing and takeoff processes of the unmanned aerial vehicle as follows:
firstly, to the landing process, after waiting to descend unmanned aerial vehicle and getting into preset alarm range, the server sends aircraft prompt message and unmanned aerial vehicle clear of the ground service prompt message for ground service terminal, remind ground service staff to connect the aircraft and prepare and clear the operation to the place of rising and landing, after waiting to descend unmanned aerial vehicle and get into the preset airspace scope of the place of rising and landing, the server sends airspace and occupies the message, then the server can control and wait to descend unmanned aerial vehicle and directly fly to the corresponding position that the unmanned aerial vehicle that rises and lands, and control should wait to descend unmanned aerial vehicle, then the server sends airspace and occupies cancellation message, cancel current airspace and occupy.
Secondly, to the process of taking off, ground service staff at first sends the place of taking off and land to occupy the message to the server through ground service terminal, then the server can control unmanned aerial vehicle outage, ground service staff treats the unmanned aerial vehicle of taking off and inspects, send unmanned aerial vehicle power-on message to the server after the inspection finishes, and send the place of taking off and land and occupy the cancellation message, then ground service staff continues to confirm the condition in the place of taking off and land, after confirming no problem, send the place of taking off and land release message to server through ground service terminal. The server sequentially receives the power-on message and the take-off and landing field release message of the unmanned aerial vehicle, detects the meteorological conditions, controls the unmanned aerial vehicle to take off after detecting that the unmanned aerial vehicle to take off has the take-off condition, and sends the airspace occupation message, and when the distance from the take-off and landing field to the unmanned aerial vehicle to take off is greater than the preset airspace range, the server sends the airspace occupation cancellation message to complete the operation of taking off in one round
It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a drone flight control device comprising:
and the information query module 200 is used for acquiring the take-off and landing site occupation information, querying the unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to the ground service terminal.
And the meteorological data acquisition module 400 is configured to acquire real-time meteorological data when receiving the unmanned aerial vehicle power-on message sent by the ground service terminal according to the unmanned aerial vehicle confirmation message and the real-time status of the unmanned aerial vehicle to take off.
And the take-off control module 600 is used for controlling the unmanned aerial vehicle to take off and sending the airspace occupation message when the real-time meteorological data supports the unmanned aerial vehicle to take off and the ground service terminal receives the take-off and landing field release message sent according to the real-time condition of the take-off and landing field.
And the occupancy control module 800 is used for sending an airspace occupancy cancellation message after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range.
In one embodiment, the system further comprises a timeout reminding module, configured to: and when the take-off and landing site release message is not received within the preset take-off and landing site occupation time limit, sending an overtime reminding message to the ground service terminal.
In one embodiment, the system further comprises a large-scale take-off control module, which is used for inquiring a second unmanned aerial vehicle to be taken off in the next position of the unmanned aerial vehicle to be taken off in the preset take-off sequence information when the take-off and landing site occupation information is obtained; and taking the second unmanned aerial vehicle to take off as the unmanned aerial vehicle to take off, executing to send an unmanned aerial vehicle confirmation message to the ground service terminal by the return information inquiry module 200, and executing to send an airspace occupancy cancellation message by the occupancy control module 800.
In one embodiment, the system further comprises a landing control module, which is used for sending an airspace occupation message after the unmanned aerial vehicle to be landed enters a preset airspace range of the take-off and landing field; and controlling the unmanned aerial vehicle to land, and sending an airspace occupation cancellation message.
In one embodiment, the system further comprises a landing alarm module, which is used for sending an airport-receiving prompt message and an unmanned aerial vehicle clearing prompt message after the unmanned aerial vehicle to be landed enters a preset alarm range of the take-off and landing field.
In one embodiment, the system further comprises a take-off progress inquiry module, which is used for sending a take-off confirmation inquiry message to the ground service terminal when the take-off and landing site occupation message is received and the take-off and landing site release message is not received;
acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message; when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data supports takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the landing field to take off and sending an airspace occupation message; and when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
For specific limitations of the flight control device of the unmanned aerial vehicle, reference may be made to the above limitations of the flight control method of the unmanned aerial vehicle, and details are not repeated here. Each module in the unmanned aerial vehicle flight control device can be wholly or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of flight control for a drone.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving the take-off and landing site occupation message, inquiring the unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to the ground service terminal.
And when receiving the unmanned aerial vehicle power-on message sent by the ground service terminal according to the unmanned aerial vehicle confirmation message and the real-time condition of the unmanned aerial vehicle to take off, acquiring real-time meteorological data.
When the real-time meteorological data support the unmanned aerial vehicle to take off and receive the take-off and landing field release message sent by the ground service terminal according to the real-time condition of the take-off and landing field, the unmanned aerial vehicle to take off is controlled to take off and send the airspace occupation message.
And after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the take-off and landing site occupation message is acquired, inquiring a second unmanned aerial vehicle to be taken off in the next order of the unmanned aerial vehicles to be taken off in the preset take-off sequence information; and taking the second unmanned aerial vehicle to be taken off as the unmanned aerial vehicle to be taken off, returning to the step of sending the unmanned aerial vehicle confirmation message to the ground service terminal, and sending the airspace occupation cancellation message.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the unmanned aerial vehicle to be landed enters a preset airspace range of a landing field, sending an airspace occupation message; and controlling the unmanned aerial vehicle to land, and sending an airspace occupation cancellation message.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the unmanned aerial vehicle to be landed enters a preset alarm range of the take-off and landing field, sending an airport pickup prompt message and an unmanned aerial vehicle clearing prompt message.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the taking-off and landing site occupation message is received and the taking-off and landing site release message is not received, sending a taking-off confirmation inquiry message to the ground service terminal; acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message; when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data supports takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the landing field to take off and sending an airspace occupation message; and when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving the take-off and landing site occupation message, inquiring the unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to the ground service terminal.
And when receiving the unmanned aerial vehicle power-on message sent by the ground service terminal according to the unmanned aerial vehicle confirmation message and the real-time condition of the unmanned aerial vehicle to take off, acquiring real-time meteorological data.
When the real-time meteorological data support the unmanned aerial vehicle to take off and receive the take-off and landing field release message sent by the ground service terminal according to the real-time condition of the take-off and landing field, the unmanned aerial vehicle to take off is controlled to take off and send the airspace occupation message.
And after the unmanned aerial vehicle to take off flies away from the take-off and landing field to preset an airspace range, sending an airspace occupancy cancellation message.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the take-off and landing site occupation message is acquired, inquiring a second unmanned aerial vehicle to be taken off in the next order of the unmanned aerial vehicles to be taken off in the preset take-off sequence information; and taking the second unmanned aerial vehicle to be taken off as the unmanned aerial vehicle to be taken off, returning to the step of sending the unmanned aerial vehicle confirmation message to the ground service terminal, and sending the airspace occupation cancellation message.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the unmanned aerial vehicle to be landed enters a preset airspace range of a landing field, sending an airspace occupation message; and controlling the unmanned aerial vehicle to land, and sending an airspace occupation cancellation message.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the unmanned aerial vehicle to be landed enters a preset alarm range of the take-off and landing field, sending an airport pickup prompt message and an unmanned aerial vehicle clearing prompt message.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the taking-off and landing site occupation message is received and the taking-off and landing site release message is not received, sending a taking-off confirmation inquiry message to the ground service terminal; acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message; when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data supports takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the landing field to take off and sending an airspace occupation message; and when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of drone flight control, the method comprising:
receiving a take-off and landing site occupation message, inquiring an unmanned aerial vehicle to take off, and sending an unmanned aerial vehicle confirmation message to a ground service terminal;
when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off, acquiring real-time meteorological data;
when the real-time meteorological data support the takeoff of the unmanned aerial vehicle and a landing field release message sent by the ground service terminal according to the real-time condition of the landing field is received, controlling the unmanned aerial vehicle to take off and sending an airspace occupation message;
and after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field, sending an airspace occupation cancellation message.
2. The method according to claim 1, wherein after controlling the unmanned aerial vehicle to take off and sending the airspace occupancy message, the method further comprises:
when the take-off and landing site occupation message is acquired, inquiring the next unmanned aerial vehicle to take off in the preset take-off sequence information;
and taking the next unmanned aerial vehicle to take off as the unmanned aerial vehicle to take off again, returning to the step of sending the unmanned aerial vehicle confirmation message to the ground service terminal, and sending the airspace occupation cancellation message.
3. The method of claim 1, wherein after said obtaining real-time weather data, further comprising:
and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
4. The method of claim 1, wherein after sending the airspace occupancy cancellation message, further comprising:
when the unmanned aerial vehicle to be landed enters a preset airspace range of the landing field, sending an airspace occupation message;
and controlling the unmanned aerial vehicle to land to send an airspace occupation cancellation message.
5. The method of claim 4, wherein before sending the airspace occupancy message, further comprising:
and when the unmanned aerial vehicle to be landed enters the preset alarm range of the take-off and landing field, sending a receiver prompt message and a field clearing prompt message.
6. The method of claim 5, wherein after sending the airport prompting message and the unmanned aerial vehicle clear prompting message, further comprising:
when the taking-off and landing site occupation message is received and the taking-off and landing site release message is not received, sending a taking-off confirmation inquiry message to the ground service terminal;
acquiring a takeoff feedback message fed back by the ground service terminal according to the takeoff confirmation inquiry message;
when the takeoff feedback message is a takeoff confirmation message, acquiring real-time meteorological data, and when the real-time meteorological data support the takeoff of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off in the take-off and landing field to take off and sending an airspace occupation message;
and when the takeoff feedback message is a takeoff interruption message, sending an unmanned aerial vehicle clearing prompt message, wherein the unmanned aerial vehicle clearing prompt message is used for clearing the unmanned aerial vehicle to take off in the take-off and landing field.
7. An unmanned aerial vehicle flight control device, its characterized in that, the device includes:
the information inquiry module is used for acquiring the take-off and landing site occupation information, inquiring the unmanned aerial vehicle to take off and sending an unmanned aerial vehicle confirmation message to the ground service terminal;
the meteorological data acquisition module is used for acquiring real-time meteorological data when receiving unmanned aerial vehicle power-on messages sent by a ground service terminal according to the unmanned aerial vehicle confirmation messages and the real-time conditions of the unmanned aerial vehicle to take off;
the take-off control module is used for controlling the unmanned aerial vehicle to take off and sending an airspace occupation message when the real-time meteorological data supports the take-off of the unmanned aerial vehicle and receives a take-off and landing field release message sent by the ground service terminal according to the real-time condition of the take-off and landing field;
and the occupancy control module is used for sending an airspace occupancy cancellation message after the unmanned aerial vehicle to take off flies away from the preset airspace range of the take-off and landing field.
8. The apparatus of claim 7, further comprising a timeout alerting module to:
and when the take-off and landing field release message is not received within the preset take-off and landing field occupation time limit, sending an overtime reminding message.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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