CN114153190A - Unmanned equipment control method and device, storage medium and electronic equipment - Google Patents
Unmanned equipment control method and device, storage medium and electronic equipment Download PDFInfo
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- CN114153190A CN114153190A CN202111295648.2A CN202111295648A CN114153190A CN 114153190 A CN114153190 A CN 114153190A CN 202111295648 A CN202111295648 A CN 202111295648A CN 114153190 A CN114153190 A CN 114153190A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The present specification discloses a method, an apparatus, a storage medium and an electronic device for controlling an unmanned device, in the embodiment of the present specification, the unmanned device monitors state information of itself, and determines whether the state information is abnormal, and if so, sends a remote operation and maintenance request and the abnormal state information to a server. And the server judges whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the received remote operation and maintenance request and the abnormal state information. If the operation and maintenance personnel can not be operated and maintained on the unmanned equipment within the preset range, the server controls the unmanned equipment to recover to a normal state. In the method, when the unmanned equipment monitors the abnormal state, the remote operation and maintenance request is actively sent to the server, and the operation and maintenance personnel do not need to report the state of the unmanned equipment to the server in real time along with the unmanned vehicle, so that the timeliness of processing the abnormal state of the unmanned equipment is improved.
Description
Technical Field
The present disclosure relates to the field of unmanned driving, and in particular, to an unmanned device control method, an apparatus, a storage medium, and an electronic device.
Background
At present, unmanned equipment is widely applied to various industries. Taking the distribution industry as an example, in the process of executing the distribution task, the unmanned device needs to monitor the state information of the unmanned device, so as to prevent the unmanned device from generating a fault when executing the distribution task.
In the prior art, in the process of executing a distribution task, unmanned equipment monitors state information of the unmanned equipment in real time and displays abnormal state information on a screen of the unmanned equipment. And reporting the abnormal state information to a remote operation and maintenance person by a near-field operation and maintenance person following the unmanned equipment. And the remote operation and maintenance personnel remotely control the unmanned equipment so as to enable the unmanned equipment to recover normal state information. Wherein the state information of the unmanned device at least includes: positioning information, motion trail information, station information through which the unmanned equipment passes, and the like.
However, in the prior art, the near-field operation and maintenance personnel report the abnormal state information of the unmanned equipment to the remote operation and maintenance personnel, and then the remote operation and maintenance personnel control the unmanned equipment, so that the timeliness of processing the abnormal state information of the unmanned equipment is reduced.
Disclosure of Invention
The embodiments of the present specification provide an unmanned device control method, an unmanned device control apparatus, a storage medium, and an electronic device, so as to partially solve the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the present specification provides an unmanned device control method, including:
the unmanned equipment monitors at least one state information of the unmanned equipment;
judging whether the monitored at least one state information is abnormal or not;
if the abnormal state exists, determining the abnormal state information as the abnormal state information;
and sending a remote operation and maintenance request to a server according to the abnormal state information so that the server judges whether the server can process the abnormal state corresponding to the abnormal state information according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned equipment, if so, remotely controlling the unmanned equipment based on a preset controller so that the unmanned equipment is recovered to a normal state, otherwise, sending operation and maintenance information to the operation and maintenance personnel within a preset range of the unmanned equipment so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
Optionally, sending a remote operation and maintenance request to a server according to the abnormal state information specifically includes:
determining a danger level corresponding to the abnormal state information from preset danger levels;
judging whether a remote operation and maintenance request needs to be sent to a server or not according to the danger level corresponding to the abnormal state information;
if the danger level corresponding to the abnormal state information is not larger than the level threshold, controlling the unmanned equipment according to a control strategy corresponding to the abnormal state information;
and if the danger level corresponding to the abnormal state information is greater than the level threshold, sending the remote operation and maintenance request to a server.
Optionally, the preset danger levels are, in order from high to low: a first risk level, a second risk level, and a third risk level;
the abnormal state information corresponding to the first danger level includes: the driving information of the unmanned equipment is wrong, the positioning information of the unmanned equipment is wrong, and the motion track of the unmanned equipment is wrong;
the abnormal state information corresponding to the second danger level includes: a battery temperature anomaly of the drone;
the abnormal state information corresponding to the third risk level includes: the duration of the unmanned equipment stopping running in the process of executing the distribution task is larger than a preset time threshold value.
Optionally, the method further comprises:
and if the set duration is monitored, the unmanned equipment does not pass through the control strategy corresponding to the abnormal state information, the unmanned equipment is controlled to restore to the normal state, and the remote operation and maintenance request is sent to the server.
The present specification provides an unmanned device control method, including:
the method comprises the steps that a server receives a remote operation and maintenance request sent by unmanned equipment and abnormal state information reported by the unmanned equipment, wherein the abnormal state information is state information of the unmanned equipment which determines that the unmanned equipment has abnormality;
judging whether the server can process abnormal conditions corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment;
if so, remotely controlling the unmanned equipment based on a preset controller so as to enable the unmanned equipment to recover a normal state;
if not, sending operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment, so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
Optionally, before the unmanned device is remotely controlled based on a preset controller, the method further includes:
sequencing the remote operation and maintenance requests sent by the unmanned equipment and the other unmanned equipment according to the danger level corresponding to the abnormal state information and the danger level corresponding to the abnormal state information uploaded by the other unmanned equipment;
optionally, the remote controlling the unmanned aerial vehicle based on a preset controller specifically includes:
and according to the sequence, remotely controlling the unmanned equipment based on a preset controller.
Optionally, determining, according to the abnormal state information corresponding to the unmanned device, whether the server can handle an abnormal condition corresponding to the abnormal state information includes:
and judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment and the video information, collected by the unmanned equipment, in the preset range of the unmanned equipment.
The present specification provides an unmanned equipment control device, including:
the monitoring module is used for monitoring at least one state information of the unmanned equipment;
the judging module is used for judging whether the monitored at least one state information is abnormal or not;
the determining module is used for determining the abnormal state information as the abnormal state information if the abnormality exists;
and the control module is used for sending a remote operation and maintenance request to a server according to the abnormal state information so as to enable the server to judge whether the server can process the abnormal state corresponding to the abnormal state information according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned equipment, if so, remotely controlling the unmanned equipment based on a preset controller so as to enable the unmanned equipment to recover the normal state, otherwise, sending operation and maintenance information to the operation and maintenance personnel within the preset range of the unmanned equipment so as to enable the operation and maintenance personnel to carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
The present specification provides an unmanned equipment control device, including:
the system comprises a receiving module, a server and a processing module, wherein the receiving module is used for receiving a remote operation and maintenance request sent by the unmanned equipment and abnormal state information reported by the unmanned equipment, and the abnormal state information is state information determined to have abnormality by the unmanned equipment;
the judging module is used for judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment;
the control module is used for remotely controlling the unmanned equipment based on a preset controller if the unmanned equipment is in the normal state;
and the operation and maintenance information sending module is used for sending operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned aerial device control method.
The electronic device provided by the specification comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the unmanned device control method.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
in the embodiment of the description, the unmanned equipment monitors the state information of the unmanned equipment, judges whether the state information is abnormal or not, and sends a remote operation and maintenance request and the abnormal state information to the server if the state information is abnormal. And the server judges whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the received remote operation and maintenance request and the abnormal state information. If the operation and maintenance personnel can not be operated and maintained on the unmanned equipment within the preset range, the server controls the unmanned equipment to recover to a normal state. In the method, when the unmanned equipment monitors the abnormal state, the remote operation and maintenance request is actively sent to the server, and the operation and maintenance personnel do not need to report the state of the unmanned equipment to the server in real time along with the unmanned vehicle, so that the timeliness of processing the abnormal state of the unmanned equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of an unmanned aerial vehicle control method provided in an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another unmanned aerial vehicle control method provided in the embodiments of the present disclosure;
fig. 3 is a schematic structural diagram of an unmanned equipment control device provided in an embodiment of the present specification;
fig. 4 is a schematic structural diagram of another unmanned aerial vehicle control apparatus provided in an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of this specification.
Detailed Description
The method for controlling the unmanned equipment aims at enabling the unmanned equipment to be recovered to a normal state by adopting different strategies according to the danger level of an abnormal state aiming at the unmanned equipment when the unmanned equipment is abnormal; aiming at the server, the server can adopt different strategies according to the difficulty degree of processing the abnormal state, so that the unmanned equipment is recovered to be normal. That is, when the unmanned device monitors that the unmanned device has an abnormal state, the unmanned device sends a remote operation and maintenance request to the server. After receiving the remote operation and maintenance request, the server judges whether the server can restore the normal state of the unmanned equipment through remote control according to the abnormal state of the unmanned equipment, and if not, operation and maintenance operation is carried out on operation and maintenance personnel around the unmanned equipment.
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
When the unmanned equipment is abnormal (has a fault), the unmanned equipment can select a control strategy corresponding to the unmanned equipment to control the unmanned equipment so as to restore the unmanned equipment to a normal state. And a remote operation and maintenance request can be sent to the server, so that the server can remotely control the unmanned equipment, and the unmanned equipment can be recovered to a normal state.
Specifically, fig. 1 is a schematic flow chart of an unmanned aerial vehicle control method provided in an embodiment of the present specification, including:
s100: the drone monitors at least one status information of itself.
In the embodiment of the present specification, the unmanned aerial vehicle control method shown in fig. 1 is applied to an unmanned aerial vehicle. Unmanned equipment in this specification can include unmanned car and unmanned aerial vehicle, unmanned equipment can be used to the logistics distribution field, both include immediate delivery fields such as takeaway, delivery, also include other non-immediate delivery fields.
In the embodiment of the present specification, taking the unmanned device as an example to execute the delivery task, the unmanned device monitors at least one piece of state information of the unmanned device in real time during the process of executing the delivery task. Wherein the at least one state may include: the system comprises driving information of the unmanned equipment, positioning information of the unmanned equipment, station information of the unmanned equipment in an automatic driving state, a motion track of the unmanned equipment, self-checking fault information, emergency stop button state information, box opening information and the like. The driving information may include: the self-checking fault information refers to fault information generated when the unmanned equipment detects when the unmanned equipment is powered on. The emergency stop button state information may be state information of whether the emergency stop button is normally connected to the unmanned device. The opening information may be information indicating that the door of the door for storing the goods is opened and whether the corresponding door is correctly opened during the process of executing the distribution task by the unmanned aerial vehicle.
In addition, the unmanned device can report at least one piece of monitored state information to the server, and the server can judge whether the state information reported by the unmanned device is abnormal or not according to the state information reported by the unmanned device. If the abnormal state exists, the unmanned equipment can be remotely controlled according to the control strategy corresponding to the abnormal state information, so that the unmanned equipment can be recovered to the normal state. That is, the unmanned device may select whether or not each monitored status information is abnormal by the server.
S102: judging whether the monitored at least one state information is abnormal or not; and if the abnormality exists, determining the state information of the abnormality as the abnormal state information.
In the embodiment of the present specification, in addition to the fact that the server determines whether or not each monitored state information is abnormal, the drone may also select the drone itself to determine whether or not at least one monitored state information is abnormal.
When judging whether each state information is abnormal or not, judging whether the state information is abnormal or not according to the standard state corresponding to the state information and the state information for each state information.
And after judgment, if at least one piece of state information monitored by the unmanned equipment has abnormal state information, taking the abnormal state information as abnormal state information.
S104: and sending a remote operation and maintenance request to a server according to the abnormal state information so that the server judges whether the server can process the abnormal state corresponding to the abnormal state information according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned equipment, if so, remotely controlling the unmanned equipment based on a preset controller so that the unmanned equipment is recovered to a normal state, otherwise, sending operation and maintenance information to the operation and maintenance personnel within a preset range of the unmanned equipment so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
In this embodiment, after the unmanned device determines the abnormal state information, the unmanned device may directly report the abnormal state information to the server, and send a remote operation and maintenance request to the server.
Besides directly reporting the abnormal state information to the server, the method can also determine the danger level corresponding to the abnormal state information, and judge whether to send a remote operation and maintenance request to the server according to the danger level corresponding to the abnormal state information.
Specifically, when a plurality of abnormal state information exists, for each abnormal state information, the danger level corresponding to the abnormal state information is determined from preset danger levels. And judging whether a remote operation and maintenance request needs to be sent to the server or not according to the danger level corresponding to the abnormal state information. And if the danger level corresponding to the abnormal state information is not greater than the level threshold, controlling the unmanned equipment according to a control strategy corresponding to the abnormal state information, so that the unmanned equipment is recovered to a normal state. And if the danger level corresponding to the abnormal state information is greater than the level threshold, sending a remote operation and maintenance request to the server. Wherein the level threshold may be a third risk level.
The preset danger levels are as follows from high to low in sequence: a first risk level, a second risk level, and a third risk level. The abnormal state information corresponding to the first danger level may include: the method comprises the following steps of making a fault on driving information of the unmanned equipment, making a fault on positioning information of the unmanned equipment, making a fault on a motion track of the unmanned equipment, making an exception on state information of an emergency stop button, making a failure on path planning, making a failure on map loading, making an exception on OTA and the like. The abnormal state information corresponding to the second risk level may include: the battery temperature of the unmanned equipment is abnormal, the IMU output is abnormal, the software service connection fails, the battery power is abnormal, the system resource occupation is abnormal, and the like. The abnormal state information corresponding to the third risk level may include: the duration of the unmanned equipment stopping running in the process of executing the distribution task is larger than a preset time threshold, such as: the unmanned equipment is located on the road congestion section.
In addition, when the danger level corresponding to the abnormal state information is not greater than the level threshold, the unmanned device may control the unmanned device according to the control policy corresponding to the abnormal state information. If the unmanned equipment does not control the unmanned equipment to restore to the normal state through the control strategy corresponding to the abnormal state information after the set time length is monitored, a remote operation and maintenance request needs to be sent to the server.
After the unmanned equipment sends the remote operation and maintenance request to the server, the server receives the remote operation and maintenance request sent by the unmanned equipment, and the server can select the server to control the unmanned equipment or select operation and maintenance personnel to perform operation and maintenance on the unmanned equipment according to the difficulty degree of processing abnormal conditions corresponding to the abnormal state information.
Specifically, fig. 2 is a schematic flow chart of an unmanned device control method provided in an embodiment of the present specification, including:
s200: the server receives a remote operation and maintenance request sent by the unmanned equipment and abnormal state information reported by the unmanned equipment, wherein the abnormal state information is state information of the unmanned equipment which determines that the unmanned equipment has abnormality.
In the embodiment of the present specification, the unmanned equipment control method shown in fig. 2 corresponds to the unmanned equipment control method shown in fig. 1, and the unmanned equipment control method shown in fig. 2 is applied to a server.
In an embodiment of the present specification, a server receives a remote operation and maintenance request sent by an unmanned device and abnormal state information reported by the unmanned device, where the abnormal state information is state information for which the unmanned device determines that there is an abnormality. The server can also receive remote operation and maintenance requests sent by other unmanned equipment and abnormal state information reported by other unmanned equipment.
S202: and judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment.
In this embodiment of the specification, after receiving a remote operation and maintenance request sent by an unmanned device and remote operation and maintenance requests sent by other unmanned devices, a server may sort remote operation and maintenance requests sent by the unmanned device and other unmanned devices according to a danger level corresponding to abnormal state information reported by the unmanned device and a danger level corresponding to abnormal state information uploaded by other unmanned devices from high to low according to the danger levels, and obtain a remote operation and maintenance request sorting result.
After the remote operation and maintenance request sequencing results of the unmanned devices (the unmanned devices and other unmanned devices) are obtained, the unmanned devices corresponding to each remote operation and maintenance request in the remote operation and maintenance request sequencing results are sequentially taken over according to the remote operation and maintenance request sequencing results. Then, whether the server can process the abnormal condition corresponding to the abnormal state information of the unmanned equipment or not is judged according to the abnormal state information reported by each unmanned equipment (unmanned equipment or other unmanned equipment). The exception condition may include: the unmanned equipment deviates from the planned path, the unmanned equipment collides, the unmanned equipment is stuck, the map loading fails, the IMU output is abnormal, and the like.
In addition, the server can also judge whether the server can process the abnormal condition corresponding to the abnormal state information according to the abnormal state information reported by the unmanned equipment and other unmanned equipment. And determining the unmanned equipment corresponding to the abnormal state information corresponding to the abnormal condition which can be processed by the server as the target unmanned equipment. And the server sorts the remote operation and maintenance requests sent by the target equipment according to the danger level corresponding to the abnormal state information reported by the target unmanned equipment and from high to low according to the danger level, so as to obtain a remote operation and maintenance request sorting result. And then, sequentially taking over the target unmanned equipment corresponding to each remote operation and maintenance request in the remote operation and maintenance request sequencing result according to the remote operation and maintenance request sequencing result.
When judging whether the server can process the abnormal condition corresponding to the abnormal state information, the judgment can be carried out according to the abnormal state information corresponding to the unmanned equipment and the video information, collected by the unmanned equipment, in the preset range of the unmanned equipment.
Specifically, whether the abnormal state information relates to hardware and/or software of the unmanned equipment is judged according to the abnormal state information reported by the unmanned equipment. When the abnormal state information only relates to the software of the unmanned equipment, the server can process the abnormal condition corresponding to the abnormal state information. When the abnormal state information relates to hardware of the unmanned equipment, whether the server can process the abnormal condition corresponding to the abnormal state information or not can be judged according to video information, collected by the unmanned equipment, in a preset range of the unmanned equipment.
Further, video information within a preset range of the unmanned equipment acquired by the unmanned equipment is acquired, the types and the number of obstacles within the preset range of the unmanned equipment in the video information are identified, and the distance between each obstacle and the unmanned equipment is determined. And judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to at least one of the type of the obstacles, the number of the obstacles and the distance between each obstacle and the unmanned equipment in the preset range of the unmanned equipment. Among them, the types of obstacles may include: pedestrians, vehicles, stationary objects (e.g., buildings, trees, poles, etc.).
And further, if the specified obstacle type exists in the preset range of the unmanned equipment, determining that the server cannot process the abnormal condition corresponding to the abnormal state information. Wherein, the specified obstacle type can be an object moving at high speed, such as: a vehicle moving at high speed.
And if the number of the obstacles in the preset range of the unmanned equipment is larger than the number threshold, determining that the server cannot process the abnormal condition corresponding to the abnormal state information.
And if the distances between the obstacles in the preset range of the unmanned equipment and the unmanned equipment are smaller than the distance threshold, determining that the server cannot process the abnormal condition corresponding to the abnormal state information.
And judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the type of the obstacles in the preset range of the unmanned equipment, the number of the obstacles and the distance between each obstacle and the unmanned equipment.
Specifically, whether the specified obstacle type exists in the preset range of the unmanned aerial vehicle is judged according to the type of the obstacle in the preset range of the unmanned aerial vehicle. And if so, determining that the server cannot process the abnormal condition corresponding to the abnormal state information. If not, judging whether the number of the obstacles is larger than a number threshold value or not according to the number of the obstacles in the preset range of the unmanned equipment. And if so, determining that the server cannot process the abnormal condition corresponding to the abnormal state information. If not, judging whether the distances between the obstacles and the unmanned equipment are all smaller than a distance threshold value according to the distances between the obstacles and the unmanned equipment in the preset range of the unmanned equipment. And if so, determining that the server cannot process the abnormal condition corresponding to the abnormal state information. If not, determining that the server can process the abnormal condition corresponding to the abnormal state information.
S204: if yes, remote control is carried out on the unmanned equipment based on a preset controller, so that the unmanned equipment is recovered to a normal state.
S206: if not, sending operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment, so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
In this embodiment, when the server determines that the server can handle the abnormal condition corresponding to the abnormal state information, the server may perform remote control on the managed unmanned device according to the danger level corresponding to the abnormal state information reported by the unmanned device, where the danger level is from high to low, so that the unmanned device returns to a normal state. The remote control of the unmanned facility of the pipe may be based on a preset controller. The preset control may be an Xbox handle.
Such as: when the unmanned device deviates from the planned movement path during the process of executing the distribution task, the server may adjust the unmanned device to the planned movement path based on a preset controller.
In this embodiment, when the server determines that the server cannot handle the abnormal condition corresponding to the abnormal state information, the server may send the operation and maintenance information to the operation and maintenance staff located within the preset range of the unmanned equipment according to the information of the operation and maintenance staff stored in advance. The information of the operation and maintenance personnel may include: the position information of the operation and maintenance personnel and the contact information of the operation and maintenance personnel, and the operation and maintenance information may include: location information of the drone. And the operation and maintenance personnel carry out operation and maintenance operation on the unmanned equipment from the current position of the operation and maintenance personnel to the position information of the unmanned equipment according to the position information of the unmanned equipment after receiving the operation and maintenance information. Generally, operation and maintenance personnel can carry out operation and maintenance operation on hardware of the unmanned equipment.
Before sending the operation and maintenance information to the operation and maintenance personnel located within the preset range of the unmanned equipment, the server can perform emergency stop operation on the taken-over unmanned equipment based on the emergency stop controller. That is, the drone is stopped by the scram controller.
In addition, the present specification also provides another unmanned equipment control method, which is applied to a server.
Specifically, whether each piece of state information is abnormal or not is judged according to each piece of state information reported by the unmanned equipment. And if the state information is abnormal, determining the abnormal state information as abnormal state information. And judging whether the abnormal condition corresponding to the abnormal state information can be processed by the server or not according to the abnormal state information and the video information within the preset range of the unmanned equipment. And if the abnormal condition corresponding to the abnormal state information can be processed by the server, controlling the unmanned equipment based on a preset controller to enable the unmanned equipment to recover to a normal state. And if the abnormal condition corresponding to the abnormal state information cannot be processed by the server, transmitting operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment, so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
As can be seen from the methods shown in fig. 1 and fig. 2, in this specification, the unmanned device monitors state information of itself, determines whether the state information is abnormal, and sends a remote operation and maintenance request and the abnormal state information to the server if the state information is abnormal. And the server judges whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the received remote operation and maintenance request and the abnormal state information. If the operation and maintenance personnel can not be operated and maintained on the unmanned equipment within the preset range, the server controls the unmanned equipment to recover to a normal state. In the method, when the unmanned equipment monitors the abnormal state, the remote operation and maintenance request is actively sent to the server, and the operation and maintenance personnel do not need to report the state of the unmanned equipment to the server in real time along with the unmanned vehicle, so that the timeliness of processing the abnormal state of the unmanned equipment is improved.
Based on the same idea, the present specification further provides a corresponding apparatus, a storage medium, and an electronic device.
Fig. 3 is a schematic structural diagram of an unmanned equipment control apparatus provided in an embodiment of the present specification, where the apparatus includes:
a monitoring module 301, configured to monitor at least one piece of state information of an unmanned device;
a determining module 302, configured to determine whether the monitored at least one piece of status information is abnormal;
a determining module 303, configured to determine, if there is an abnormality, that there is abnormal state information as abnormal state information;
a control module 304, configured to send a remote operation and maintenance request to a server according to the abnormal state information, so that the server determines, according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned device, whether the server can handle an abnormal condition corresponding to the abnormal state information, if yes, remotely control the unmanned device based on a preset controller, so that the unmanned device returns to a normal state, and otherwise, send operation and maintenance information to the operation and maintenance staff located within a preset range of the unmanned device, so that the operation and maintenance staff perform operation on the unmanned device according to the received operation and maintenance information.
Optionally, the control module 304 is specifically configured to determine a risk level corresponding to the abnormal state information from preset risk levels; judging whether a remote operation and maintenance request needs to be sent to a server or not according to the danger level corresponding to the abnormal state information; if the danger level corresponding to the abnormal state information is not larger than the level threshold, controlling the unmanned equipment according to a control strategy corresponding to the abnormal state information; and if the danger level corresponding to the abnormal state information is greater than the level threshold, sending the remote operation and maintenance request to a server.
Optionally, the preset danger levels are, in order from high to low: a first risk level, a second risk level, and a third risk level; the abnormal state information corresponding to the first danger level includes: the driving information of the unmanned equipment is wrong, the positioning information of the unmanned equipment is wrong, and the motion track of the unmanned equipment is wrong; the abnormal state information corresponding to the second danger level includes: a battery temperature anomaly of the drone; the abnormal state information corresponding to the third risk level includes: the duration of the unmanned equipment stopping running in the process of executing the distribution task is larger than a preset time threshold value.
Optionally, the control module 304 is further configured to, if it is monitored that the set duration has elapsed, control the unmanned device to recover to the normal state without passing through the control policy corresponding to the abnormal state information, and send the remote operation and maintenance request to the server.
Fig. 4 is a schematic structural diagram of an unmanned equipment control apparatus provided in an embodiment of the present specification, where the apparatus includes:
a receiving module 401, configured to receive, by a server, a remote operation and maintenance request sent by an unmanned device and abnormal state information reported by the unmanned device, where the abnormal state information is state information of an abnormal state determined by the unmanned device;
a determining module 402, configured to determine, according to the abnormal state information corresponding to the unmanned device, whether the server can handle an abnormal condition corresponding to the abnormal state information;
the control module 403 is configured to, if yes, remotely control the unmanned equipment based on a preset controller, so that the unmanned equipment returns to a normal state;
and an operation and maintenance information sending module 404, configured to send operation and maintenance information to the operation and maintenance staff located within the preset range of the unmanned aerial vehicle, so that the operation and maintenance staff perform operation and maintenance on the unmanned aerial vehicle according to the received operation and maintenance information.
Optionally, before the unmanned aerial vehicle is remotely controlled based on a preset controller, the control module 403 is further configured to sort the remote operation and maintenance requests sent by the unmanned aerial vehicle and the other unmanned aerial vehicles according to the risk level corresponding to the abnormal state information and the risk level corresponding to the abnormal state information uploaded by the other unmanned aerial vehicles.
Optionally, the control module 403 is specifically configured to perform remote control on the unmanned device based on a preset controller according to the sorting.
Optionally, the determining module 402 is specifically configured to determine whether the server can handle an abnormal condition corresponding to the abnormal state information according to the abnormal state information corresponding to the unmanned aerial vehicle and the video information within the preset range of the unmanned aerial vehicle, which is acquired by the unmanned aerial vehicle.
The present specification also provides a computer readable storage medium storing a computer program which, when executed by a processor, is operable to perform the drone controlling method provided in fig. 1 and 2 above.
Based on the unmanned device control method shown in fig. 1 and fig. 2, the embodiment of the present specification further provides a schematic structural diagram of the electronic device shown in fig. 5. As shown in fig. 5, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the above-described unmanned device control method in fig. 1 and 2.
Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (11)
1. An unmanned equipment control method, the method comprising:
the unmanned equipment monitors at least one state information of the unmanned equipment;
judging whether the monitored at least one state information is abnormal or not;
if the abnormal state exists, determining the abnormal state information as the abnormal state information;
and sending a remote operation and maintenance request to a server according to the abnormal state information so that the server judges whether the server can process the abnormal state corresponding to the abnormal state information according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned equipment, if so, remotely controlling the unmanned equipment based on a preset controller so that the unmanned equipment is recovered to a normal state, otherwise, sending operation and maintenance information to the operation and maintenance personnel within a preset range of the unmanned equipment so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
2. The method of claim 1, wherein sending a remote operation and maintenance request to a server according to the abnormal state information specifically comprises:
determining a danger level corresponding to the abnormal state information from preset danger levels;
judging whether a remote operation and maintenance request needs to be sent to a server or not according to the danger level corresponding to the abnormal state information;
if the danger level corresponding to the abnormal state information is not larger than the level threshold, controlling the unmanned equipment according to a control strategy corresponding to the abnormal state information;
and if the danger level corresponding to the abnormal state information is greater than the level threshold, sending the remote operation and maintenance request to a server.
3. The method of claim 2, wherein the preset risk levels are, in order from high to low: a first risk level, a second risk level, and a third risk level;
the abnormal state information corresponding to the first danger level includes: the driving information of the unmanned equipment is wrong, the positioning information of the unmanned equipment is wrong, and the motion track of the unmanned equipment is wrong;
the abnormal state information corresponding to the second danger level includes: a battery temperature anomaly of the drone;
the abnormal state information corresponding to the third risk level includes: the duration of the unmanned equipment stopping running in the process of executing the distribution task is larger than a preset time threshold value.
4. The method of claim 2, wherein the method further comprises:
and if the set duration is monitored, the unmanned equipment does not pass through the control strategy corresponding to the abnormal state information, the unmanned equipment is controlled to restore to the normal state, and the remote operation and maintenance request is sent to the server.
5. An unmanned equipment control method, the method comprising:
the method comprises the steps that a server receives a remote operation and maintenance request sent by unmanned equipment and abnormal state information reported by the unmanned equipment, wherein the abnormal state information is state information of the unmanned equipment which determines that the unmanned equipment has abnormality;
judging whether the server can process abnormal conditions corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment;
if so, remotely controlling the unmanned equipment based on a preset controller so as to enable the unmanned equipment to recover a normal state;
if not, sending operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment, so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
6. The method of claim 5, wherein prior to remotely controlling the drone based on a preset controller, the method further comprises:
sequencing the remote operation and maintenance requests sent by the unmanned equipment and the other unmanned equipment according to the danger level corresponding to the abnormal state information and the danger level corresponding to the abnormal state information uploaded by the other unmanned equipment;
carry out remote control based on preset controller to unmanned aerial vehicle specifically includes:
and according to the sequence, remotely controlling the unmanned equipment based on a preset controller.
7. The method according to claim 5, wherein determining whether the server can handle the abnormal condition corresponding to the abnormal state information according to the abnormal state information corresponding to the unmanned device specifically includes:
and judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment and the video information, collected by the unmanned equipment, in the preset range of the unmanned equipment.
8. An unmanned equipment control device, comprising:
the monitoring module is used for monitoring at least one state information of the unmanned equipment;
the judging module is used for judging whether the monitored at least one state information is abnormal or not;
the determining module is used for determining the abnormal state information as the abnormal state information if the abnormality exists;
and the control module is used for sending a remote operation and maintenance request to a server according to the abnormal state information so as to enable the server to judge whether the server can process the abnormal state corresponding to the abnormal state information according to the received remote operation and maintenance request and the abnormal state information reported by the unmanned equipment, if so, remotely controlling the unmanned equipment based on a preset controller so as to enable the unmanned equipment to recover the normal state, otherwise, sending operation and maintenance information to the operation and maintenance personnel within the preset range of the unmanned equipment so as to enable the operation and maintenance personnel to carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
9. An unmanned equipment control device, comprising:
the system comprises a receiving module, a server and a processing module, wherein the receiving module is used for receiving a remote operation and maintenance request sent by the unmanned equipment and abnormal state information reported by the unmanned equipment, and the abnormal state information is state information determined to have abnormality by the unmanned equipment;
the judging module is used for judging whether the server can process the abnormal condition corresponding to the abnormal state information or not according to the abnormal state information corresponding to the unmanned equipment;
the control module is used for remotely controlling the unmanned equipment based on a preset controller if the unmanned equipment is in the normal state;
and the operation and maintenance information sending module is used for sending operation and maintenance information to the operation and maintenance personnel located in the preset range of the unmanned equipment so that the operation and maintenance personnel can carry out operation and maintenance operation on the unmanned equipment according to the received operation and maintenance information.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-7.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-7 when executing the program.
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