CN114625154A

CN114625154A - Online planning method and related device for airline task

Info

Publication number: CN114625154A
Application number: CN202210369247.5A
Authority: CN
Inventors: 冯银华
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-06-14
Also published as: WO2023193604A1

Abstract

The embodiment of the application relates to an online planning method and a related device of an airline task, wherein the method comprises the following steps: in the flight process of the unmanned aerial vehicle in the first task, responding to the operation of a user interface of the remote control equipment, and generating a second task instruction, wherein the second task instruction corresponds to a second task; and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task. By temporarily planning a new task in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, so that the problem of insufficient scheduling efficiency caused by the fact that the unmanned aerial vehicle can only execute a single task in the flight process is solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

Description

Online planning method and related device for airline task

[ technical field ] A method for producing a semiconductor device

The application relates to the technical field of unmanned aerial vehicles, in particular to an online planning method and a related device for airline tasks.

[ background ] A method for producing a semiconductor device

With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are being produced and developed, and the unmanned aerial vehicles are gradually popularized.

At present, in the flight process of an unmanned aerial vehicle, the air route tasks of the unmanned aerial vehicle are generally planned in advance, for example: the method comprises the steps that an air line task is planned through a remote controller in advance, or the planned air line task is guided into the remote controller through a computer end, the air line task is sent to the unmanned aerial vehicle through the remote controller, the unmanned aerial vehicle is enabled to execute the air line task, the unmanned aerial vehicle can only execute a single task in the flying process, and the scheduling efficiency of the unmanned aerial vehicle is poor.

[ summary of the invention ]

The embodiment of the application provides an online planning method and a related device for a flight route task, and the method and the device enable an unmanned aerial vehicle to execute a new task by temporarily planning the new task in the flight process of the unmanned aerial vehicle in a certain task, so that the problem of insufficient scheduling efficiency caused by the fact that the unmanned aerial vehicle can only execute a single task in the flight process is solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

in a first aspect, an embodiment of the present application provides an online planning method for an airline task, where the method includes:

generating a second task instruction in response to the operation on the user interface of the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task;

and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task.

In some embodiments, generating the second task instruction in response to the operation of the user interface of the remote control device comprises:

responding to a first operation on a user interface, and entering a task editing mode, wherein the first operation is used for triggering the remote control equipment to enter a task editing interface;

responding to the selection operation of the task editing interface, and determining the task type of the second task;

and acquiring task information corresponding to the task type and generating a second task instruction.

In some embodiments, the task type of the second task comprises a waypoint task, the method further comprising: after the second task is determined to be the waypoint task, entering a task flight interface;

acquiring task information corresponding to the task type, and generating a second task instruction, wherein the task information comprises:

responding to a first operation on a task flight interface, and determining task information corresponding to a waypoint task, wherein the task information corresponding to the waypoint task comprises waypoint coordinates of a plurality of waypoints;

and generating a route path of the second task according to the waypoint coordinates of the plurality of waypoints so as to obtain a second task instruction.

In some embodiments, generating the waypoint path for the second task from the waypoint coordinates for the plurality of waypoints to obtain second task instructions comprises:

after generating the route path of the second task, entering a temporary route preview interface, wherein the temporary route preview interface is used for confirming parameters corresponding to the route path of the second task, and the parameters corresponding to the route path of the second task comprise route point information corresponding to each route point;

and responding to the task execution operation of the temporary route preview interface to obtain a second task instruction.

In some embodiments, the task type of the second task comprises a region flight task, the method further comprising: after the second task is determined to be the regional flight task, entering a task flight interface;

and responding to a second operation of the task flight interface, and determining task information corresponding to the regional flight task to obtain a second task instruction, wherein the task information corresponding to the regional flight task comprises position information of a first region, and the first region is a flight region corresponding to the regional flight task.

In some embodiments, in response to a second operation on the task flight interface, determining task information corresponding to the regional flight task to obtain a second task instruction includes:

in response to a second operation on the mission flight interface, determining region center coordinates of the first region;

generating a region composed of a preset length and a preset width in a task flight interface according to the region center coordinate, and taking the region as a first region;

and responding to the operation of the first area in the mission flight interface, and adjusting the length and/or the width of the first area to determine the position information of the first area to obtain a second mission instruction.

In some embodiments, the task type of the second task comprises an electronic fence task, the method further comprising: after the second task is determined to be the electronic fence task, entering a task flight interface;

and responding to a third operation on the task flight interface, and determining task information corresponding to the electronic fence task to obtain a second task instruction, wherein the task information corresponding to the electronic fence task comprises position information of a second area, and the second area is a no-flight area corresponding to the electronic fence task.

In some embodiments, the task type of the second task comprises a historical task, the method further comprising: after the second task is determined to be the historical task, entering a historical record interface;

and responding to the selection operation of the historical record interface, importing the historical airline task, and determining task information corresponding to the historical airline task to obtain a second task instruction.

In a second aspect, an embodiment of the present application provides a method for online planning of an airline task, where the method includes:

acquiring a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task;

and according to the second task instruction, suspending the first task and executing the second task.

In some embodiments, the second task instructions include a plurality of second tasks, and suspending the first task and executing the second task according to the second task instructions includes:

determining an execution order of the plurality of second tasks;

and executing the plurality of second tasks one by one according to the execution sequence.

In some embodiments, the determining the execution order of the plurality of second tasks includes:

analyzing the task file and determining the sequence of file headers of a plurality of second tasks;

and determining the execution sequence of the plurality of second tasks according to the sequence of the plurality of file headers.

In a third aspect, an embodiment of the present application provides an online planning device for an airline task, where the device includes:

the task generating module is used for responding to the operation of a user interface of the remote control equipment in the flight process of the first task of the unmanned aerial vehicle and generating a second task instruction, wherein the second task instruction corresponds to the second task;

and the task sending module is used for sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task.

In a fourth aspect, an embodiment of the present application provides an online planning apparatus for an airline task, where the apparatus includes:

the task obtaining module is used for obtaining a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task;

and the task execution module is used for pausing the first task and executing the second task according to the second task instruction.

In a fifth aspect, an embodiment of the present application provides a remote control device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of online planning of an airline task as in the first aspect.

In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of online planning of an airline task as in the second aspect.

In a seventh aspect, an embodiment of the present application provides an online planning system for an airline task, including:

the remote control device of the fifth aspect;

the unmanned aerial vehicle of the sixth aspect.

In an eighth aspect, embodiments of the present application provide a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, and the computer program is used to cause a computer to execute some or all of the steps described in the first aspect or the second aspect.

In a ninth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps as described in the first or second aspect. The computer program product may be a software installation package.

The embodiment of the application provides an online planning method of an airline task, which comprises the following steps: generating a second task instruction in response to the operation on the user interface of the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task; and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task. By planning a new task temporarily in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, the problem that the scheduling efficiency is insufficient due to the fact that the unmanned aerial vehicle can only execute a single task in the flight process can be solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

[ description of the drawings ]

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

FIG. 2 is a flow chart of a method for online planning of an airline task according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a user interface provided by an embodiment of the present application;

FIG. 4 is a detailed flowchart of step S201 in FIG. 2;

FIG. 5 is a schematic diagram of a task editing interface according to an embodiment of the present application;

FIG. 6 is a flowchart of a first method for generating a second task instruction according to an embodiment of the present application;

FIG. 7 is a schematic illustration of a first mission flight interface provided by an embodiment of the present application;

FIG. 8 is a detailed flowchart of step S602 in FIG. 6;

FIG. 9 is a schematic diagram of a temporary route preview interface provided by an embodiment of the application;

FIG. 10 is a flowchart of a second method for generating a second task instruction according to an embodiment of the present application;

fig. 11 is a detailed flowchart of step S101 in fig. 10;

FIG. 12 is a schematic illustration of a second mission flight interface provided by an embodiment of the present application;

FIG. 13 is a flow chart of a third method for generating a second task instruction according to an embodiment of the present disclosure;

FIG. 14 is a schematic illustration of a third mission flight interface provided by an embodiment of the present application;

FIG. 15 is a flowchart of a fourth method for generating a second task instruction according to an embodiment of the present application;

FIG. 16 is a schematic diagram of a history interface provided by an embodiment of the present application;

FIG. 17 is a schematic flow chart diagram illustrating another method for online planning of an airline task according to an embodiment of the present application;

FIG. 18 is a flowchart for performing a second task provided by an embodiment of the present application;

FIG. 19 is a flowchart for determining an execution order of a second task according to an embodiment of the present application;

FIG. 20 is a flowchart illustrating a further method for on-line planning of airline tasks according to an embodiment of the present application;

FIG. 21 is a schematic structural diagram of an online planning device for an airline task according to an embodiment of the present application;

FIG. 22 is a schematic structural diagram of an alternative online planning device for airline tasks according to an embodiment of the present application;

fig. 23 is a schematic structural diagram of a remote control device provided in an embodiment of the present application;

FIG. 24 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 25 is a schematic structural diagram of an online planning system for airline tasks according to an embodiment of the present application;

FIG. 26 is a schematic structural diagram of another online planning system for airline tasks according to an embodiment of the present application.

[ detailed description ] embodiments

In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.

An application environment of the online planning method for an airline task in the embodiment of the present application is illustrated below.

Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 100 and a remote control device 200, where the unmanned aerial vehicle 100 is communicatively connected to the remote control device 200, for example: the unmanned aerial vehicle 100 is communicatively connected to the remote control device 200 through a wireless network, and the flying hand or the user-operable remote control device 200 operates the unmanned aerial vehicle 100 through the wireless network.

In some embodiments, unmanned aerial vehicle 100 includes: unmanned vehicles such as multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, unmanned helicopters and mixed-wing unmanned aerial vehicles. In some embodiments, unmanned aerial vehicle 100 may also be any type of powered unmanned aerial vehicle including, but not limited to, a rotary wing drone, a fixed wing drone, an umbrella wing drone, a flapping wing drone, a helicopter model, and the like. In the embodiments of the present application, a hybrid wing drone is taken as an example for presentation.

Further, the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of actual conditions, so as to provide a load capacity, a flight speed, a flight endurance, and the like that can meet the use needs. One or more sensors may be added to the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 can collect corresponding data.

For example, in some embodiments, the UAV 100 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.

The unmanned aerial vehicle 100 further includes a flight controller as a control core for unmanned aerial vehicle flight, data transmission, and the like, and integrates one or more modules to execute a corresponding logic control program.

In the embodiment of the application, the unmanned aerial vehicle comprises an unmanned aerial vehicle control system, and the unmanned aerial vehicle control system comprises a state machine, a flight controller, an unmanned aerial vehicle power system, an unmanned aerial vehicle sensor and the like.

Specifically, this unmanned aerial vehicle control system includes: the state machine is connected with the flight controller and the unmanned aerial vehicle power system, the input of the state machine is navigation data and a user interaction command, the output of the state machine is a control command and a corresponding zone bit, the main function of the state machine is to process the user interaction command, and the navigation data is adopted to realize various functions of the unmanned aerial vehicle, such as upper-layer functions of flight mode switching, state monitoring, waypoint flight, return flight and the like. The user interaction command is an interaction command sent by a ground user, for example: the remote control stick data, the key control command and other commands can be realized in a state machine. Specifically, the control command and the corresponding flag bits output by the state machine include a position command, a speed command, an acceleration command, an altitude command, a climbing rate command, a climbing acceleration command, an attitude angle command, a heading angle rate command, an attitude mode flag bit and a position mode flag bit.

The flight controller is connected with the state machine and the flight controller and used for receiving a control command and a corresponding zone bit sent by the state machine, receiving navigation data sent by an unmanned aerial vehicle power system and outputting a motor rotating speed control command, wherein the flight controller comprises two flight modes, namely a position mode and an attitude mode, and the flight controller is mainly used for calculating the motor rotating speed command by adopting the control command and the navigation data through a certain algorithm, so that the position and the attitude of the airplane are controlled, and the position and the attitude of the airplane are in an expected state. Specifically, the battery speed control command, as exemplified by a conventional rotorcraft, is a Pulse Width Modulation (PWM) command that controls the motor.

Specifically, the unmanned aerial vehicle power system is connected with the flight controller, and the unmanned aerial vehicle power system comprises an execution system and a state monitoring system of the unmanned aerial vehicle and is used for receiving a motor rotating speed control command sent by the flight controller and realizing corresponding rotating speed, so that corresponding attitude angle and position are realized, sensor data are processed, and navigation data are indirectly or directly calculated. Specifically, the unmanned aerial vehicle power system processes unmanned aerial vehicle sensor data by adopting a fusion algorithm to obtain navigation data. For example, the unmanned aerial vehicle power system comprises a GPS, a gyroscope, an accelerometer and a magnetometer, and the position, the speed and the acceleration data of the unmanned aerial vehicle can be calculated through the GPS, the gyroscope, the accelerometer and the magnetometer. The position, speed and acceleration data of the unmanned aerial vehicle can be calculated through binocular vision, a gyroscope, an accelerometer and a magnetometer. The attitude angle and the attitude angle rate of the unmanned aerial vehicle can be calculated through a gyroscope, an accelerometer and a magnetometer.

In some embodiments, the remote control device 200 includes a smart terminal, wherein the smart terminal may be any type of smart device for establishing a communication connection with the unmanned aerial vehicle 100, such as a mobile terminal, e.g., a mobile phone, a tablet computer, or a smart remote controller. The remote control device 200 may be equipped with one or more different user interaction means for collecting user instructions or presenting and feeding back information to the user. Alternatively, the remote control device 200 includes a terminal device, wherein the terminal device includes a computer device, a PC terminal, or the like for establishing a communication connection with the unmanned aerial vehicle 100, and the terminal device may be equipped with one or more different user interaction devices for collecting user instructions or presenting and feeding back information to the user.

The user interaction devices include, but are not limited to: keys, a mouse, a keyboard, a display screen, a touch screen, a loudspeaker, a remote control lever and the like. For example, the remote control device 200 may be equipped with a touch display screen through which a remote control instruction of the unmanned aerial vehicle 100 from a user is received and map information, i.e., a map screen, and image information, i.e., an image-passing screen, obtained by aerial photography are displayed to the user, the user may also switch the image information currently displayed on the display screen through the remote control touch screen, the user may also control the movement of the unmanned aerial vehicle through the operation of a mouse or the operation of keys of a keyboard, or control the pan-tilt direction of the unmanned aerial vehicle, the focal length of a pan-tilt camera of the unmanned aerial vehicle, or the like.

In some embodiments, the unmanned aerial vehicle 100 and the remote control device 200 can further provide more intelligent services by fusing the existing image vision processing technology. For example: the unmanned aerial vehicle 100 can analyze the image by the remote control device 200 in a manner of acquiring the image by the dual-optical camera, thereby realizing gesture control of the user on the unmanned aerial vehicle 100.

In some embodiments, the wireless network may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof, located in different signal frequency bands.

The technical scheme of the application is described in the following with the accompanying drawings of the specification:

referring to fig. 2, fig. 2 is a schematic flowchart illustrating a method for online planning of an airline task according to an embodiment of the present application;

the online planning method of the airline task can be applied to remote control equipment or terminal equipment, and particularly, the execution main body of the online planning method of the airline task is one or more processors of the remote control equipment or the terminal equipment. The remote control device includes but is not limited to a remote controller, a mobile terminal, a tablet computer, and the like, and the terminal device includes but is not limited to a fixed terminal, for example: computer devices, servers, etc.

1. Taking an execution subject of the online planning method for the airline task as a remote control device as an example, the online planning method for the airline task is applied to the remote control device, and the remote control device is in communication connection with the unmanned aerial vehicle.

As shown in fig. 2, the method for online planning of an airline task includes:

step S201: in the flight process of the unmanned aerial vehicle in the first task, responding to the operation of a user interface of the remote control equipment, and generating a second task instruction, wherein the second task instruction corresponds to a second task;

specifically, in the process that the unmanned aerial vehicle executes the first task, a user operates a user interface of a display screen of the remote control device to trigger generation of a second task instruction, wherein the second task instruction is used for enabling the unmanned aerial vehicle to execute a second task corresponding to the second task instruction.

Referring to fig. 3 again, fig. 3 is a schematic diagram of a user interface provided in an embodiment of the present application;

as shown in fig. 3, the user interface includes a main interface, where the main interface is configured to present a regional map of a location where the unmanned aerial vehicle is located, and display a course track of a first task of the unmanned aerial vehicle on the regional map, where the course track displays a location of each waypoint.

The main interface also comprises a newly-built task control and a return main interface control, and the newly-built task control is used for entering a task editing mode.

It will be appreciated that other controls may also be included on the main interface, such as: positioning controls, photographing controls, setting controls, and the like, which are not described in detail herein.

Specifically, please refer to fig. 4 again, fig. 4 is a detailed flowchart of step S201 in fig. 2;

as shown in fig. 4, the step S201:

step S2011: responding to a first operation on a user interface, and entering a task editing mode, wherein the first operation is used for triggering the remote control equipment to enter a task editing interface;

specifically, a first operation of a new task control of the user interface is responded, wherein the first operation comprises a voice instruction or a gesture operation, for example: and gesture operations such as click operation, long-press operation, sliding operation, dragging operation and the like.

Such as: after a user clicks the new task control, namely, clicking operation is carried out, the remote control equipment responds to the clicking operation and enters a task editing mode, namely, a task editing interface.

Step S2012: responding to the selection operation of the task editing interface, and determining the task type of the second task;

referring to fig. 5 again, fig. 5 is a schematic diagram of a task editing interface according to an embodiment of the present disclosure;

as shown in fig. 5, after a new task control is clicked, a waypoint task icon, an area flight task icon, an electronic fence task icon, and an import history task icon are triggered to be generated, where each task icon corresponds to one task type, for example: the waypoint task icons correspond to waypoint tasks, the regional flight tasks correspond to regional flight tasks, the electronic fence task icons correspond to electronic fence tasks, and the import history task icons correspond to import history tasks.

After a certain icon is operated, the remote control equipment responds to the operation of the icon, enters a task flight interface, and generates a second task instruction through the operation of a user on the task flight interface.

For example: after the user clicks the waypoint task icon, the task type of the second task is determined to be the waypoint task, at the moment, a task flight interface is entered,

step S2013: and acquiring task information corresponding to the task type and generating a second task instruction.

The following specifically exemplifies a manner of generating the second task instruction under different task types:

(1) the task type is a waypoint task:

specifically, please refer to fig. 6, fig. 6 is a flowchart illustrating a first method for generating a second task instruction according to an embodiment of the present disclosure;

as shown in fig. 6, a first flow of generating a second task instruction includes:

step S601: responding to a first operation on a task flight interface, and determining task information corresponding to a waypoint task, wherein the task information corresponding to the waypoint task comprises waypoint coordinates of a plurality of waypoints;

specifically, after entering the task flight interface, a user determines task information corresponding to a waypoint task through a first operation on the task flight interface, wherein the first operation on the task flight interface comprises a click operation, and the remote control device determines waypoint coordinates of a plurality of waypoints in response to a plurality of click operations on the task flight interface, wherein each click operation corresponds to one waypoint corresponding to a position on the regional map.

Step S602: generating a route path of a second task according to the waypoint coordinates of the plurality of waypoints to obtain a second task instruction;

specifically, waypoint coordinates of a plurality of waypoints are determined on the area map, and the order of each waypoint is determined according to the waypoint coordinates of the plurality of waypoints and the click time of each click operation, so that the route path of the second task is generated. Referring to fig. 7, fig. 7 is a schematic view of a first mission flight interface according to an embodiment of the present disclosure;

as shown in fig. 7, the route path of the first task is different from the route path of the second task, wherein the route path of the second task includes waypoint (i), waypoint (ii), waypoint (iii) and waypoint (iv).

In the embodiment of the application, the route path of the second task is generated by a route algorithm library pre-stored by the remote control equipment, and the route path is a real-time route path. The flight path algorithm library is used for receiving the coordinate positions of the multiple flight points, the current position of the unmanned aerial vehicle and the return point information, and planning the track coordinate of real-time flight of the unmanned aerial vehicle, such as a flight path of a second task shown in fig. 7.

Referring back to fig. 8, fig. 8 is a detailed flowchart of step S602 in fig. 6;

as shown in fig. 8, the step S602 includes:

step S6021: after generating the route path of the second task, entering a temporary route preview interface, wherein the temporary route preview interface is used for confirming parameters corresponding to the route path of the second task, and the parameters corresponding to the route path of the second task comprise route point information corresponding to each route point;

specifically, please refer to fig. 9 again, fig. 9 is a schematic diagram of a temporary route preview interface provided in an embodiment of the present application;

as shown in fig. 9, the temporary route preview interface is configured to display a route path of the first task, a route path of the second task, and waypoint information of each waypoint of the second task, where the waypoint information includes information such as a flight altitude, a flight speed, waypoint movements, camera movements, a pan-tilt translation angle, a pan-tilt angle, and waypoint coordinates of the waypoint.

For example, the flying height, flying speed, flying point motion, camera motion, pan-tilt angle, and flying point coordinates of flying point (r) shown in fig. 9.

It can be understood that waypoint information of all waypoints can be displayed in the temporary route preview interface, the temporary route preview interface comprises a first preview interface, the first preview interface is used for presenting the waypoint information of the waypoints, and due to the limitation of the size of the first preview interface, the first preview interface can display the waypoint information of one waypoint one by switching different waypoints.

Step S6022: and responding to the task execution operation of the temporary route preview interface to obtain a second task instruction.

Specifically, the temporary airline preview interface includes a takeoff control, the task execution operation is used for triggering the takeoff control, and after the takeoff control is triggered, task information corresponding to the current second task is stored to obtain a second task instruction.

(2) The task type is a regional flight task:

specifically, please refer to fig. 10, fig. 10 is a flowchart illustrating a second method for generating a second task instruction according to an embodiment of the present disclosure;

as shown in fig. 10, the second flow of generating the second task instruction includes:

step S101: and responding to a second operation of the task flight interface, and determining task information corresponding to the regional flight task to obtain a second task instruction, wherein the task information corresponding to the regional flight task comprises position information of a first region, and the first region is a flight region corresponding to the regional flight task.

Specifically, after entering the task flight interface, the user determines task information corresponding to the regional flight task through second operation on the task flight interface, wherein the second operation on the task flight interface includes click operation, and the remote control device determines position information of a first region corresponding to the regional flight task in response to the click operation on the task flight interface, wherein the first region is a flight region corresponding to the regional flight task.

Specifically, please refer to fig. 11 again, fig. 11 is a detailed flowchart of step S101 in fig. 10;

as shown in fig. 11, the step S101 includes:

step S1011: in response to a second operation on the mission flight interface, determining region center coordinates of the first region;

specifically, the second operation includes a click operation, when the user clicks a certain position in the task flight interface, a map position corresponding to the clicked position is determined on the area map, the map position is used as an area center of the first area, and an area center coordinate of the area center of the first area is determined.

Step S1012: generating a region composed of a preset length and a preset width in a task flight interface according to the region center coordinate, and taking the region as a first region;

specifically, when a user clicks a certain map position on a regional map in a task flight interface, a region composed of a preset length and a preset width is automatically generated with the map position as a center, the region is rectangular or square, and the region is used as a first region, for example: the user clicks a certain point on the area map, and defaults to generate four vertexes of a square with the length of 300 meters and the width of 300 meters by taking the point as a center, and an area formed by enclosing the four vertexes is determined as a first area.

Referring again to fig. 12, fig. 12 is a schematic view of a second mission flight interface provided in the embodiments of the present application;

as shown in fig. 12, the first area is a rectangular area having a preset length and a preset width, and the center of the area is a position clicked by the user.

In the embodiment of the present application, the preset length and the preset width are set according to specific needs, and are not limited herein, for example: the preset length is 300M, and the preset width is 200M.

Step S1013: and responding to the operation of the first area in the mission flight interface, and adjusting the length and/or the width of the first area to determine the position information of the first area to obtain a second mission instruction.

Specifically, after the first area is automatically generated, in response to a dragging operation or a sliding operation on a frame in which the first area is located in the mission flight interface, a position and/or a length and/or a width of the first area are/is adjusted, for example: the first area corresponds to four vertexes and four edges, and when a user drags the position of a certain vertex, the length and the width of the first area are enlarged or reduced in the same proportion; when a user drags the position of one side, the corresponding length or width is increased or decreased; when the user drags the area center or the position where the non-vertex or the non-edge is located, the position of the area center of the first area is adjusted, the length and the width of the first area are kept unchanged, and therefore the position of the first area in the area map is adjusted.

After the position of the first area in the area map is determined, the remote control equipment calls a route track algorithm to generate a route track of the first area according to the positions of four vertexes of the first area, and plans the route track on the area map, wherein the route track is located at the position of the first area, namely the first area is used for setting a flight area of the unmanned aerial vehicle as a position corresponding to the first area in the area map, the task flight interface further comprises a take-off control, and after the take-off control is triggered, the remote control equipment stores task information corresponding to the route track of the first area and generates a second task instruction.

(3) The task type is an electronic fence task:

referring to fig. 13, fig. 13 is a flowchart illustrating a third method for generating a second task instruction according to an embodiment of the present application;

as shown in fig. 13, a third flow for generating a second task instruction includes:

step S131: and responding to a third operation on the task flight interface, and determining task information corresponding to the electronic fence task to obtain a second task instruction, wherein the task information corresponding to the electronic fence task comprises position information of a second area, and the second area is a no-flight area corresponding to the electronic fence task.

Specifically, after the user selects the electronic fence task, that is, after the second task is determined to be the electronic fence task, the task flight interface is entered, the user determines task information corresponding to the electronic fence task through a third operation on the task flight interface, where the third operation on the task flight interface includes a click operation, and the remote control device determines, in response to the click operation on the task flight interface, location information of a second area corresponding to the electronic fence task, where the second area is a no-fly area corresponding to the electronic fence task.

Specifically, in response to a third operation on the mission flight interface, area center coordinates of the second area are determined, an area composed of a preset length and a preset width is generated in the mission flight interface according to the area center coordinates, and the area is used as the second area.

For example: and the third operation comprises clicking operation, when a user clicks a certain position in the task flight interface, determining a corresponding map position of the clicked position on the regional map, taking the map position as the regional center of the second region, and determining the regional center coordinates of the regional center of the second region.

Specifically, when a user clicks a certain map position on a regional map in a task flight interface, a region composed of a preset length and a preset width is automatically generated with the map position as a center, the region is rectangular or square, and the region is used as a second region, for example: the user clicks a certain point on the area map, and defaults to four vertexes of a square with the length of 300 meters and the width of 300 meters by taking the point as the center, and determines an area enclosed and combined by the four vertexes as a second area.

Referring again to FIG. 14, FIG. 14 is a schematic view of a third mission flight interface provided in accordance with an embodiment of the present application;

as shown in fig. 14, the second area is a rectangular area having a preset length and a preset width, and the center of the area is a position clicked by the user.

Wherein, the method further comprises:

and responding to the operation of the second area in the mission flight interface, and adjusting the length and/or the width of the second area to determine the position information of the second area to obtain a second mission instruction.

Specifically, after the second area is automatically generated, in response to a dragging operation or a sliding operation on a frame in which the second area is located in the mission flight interface, a position and/or a length and/or a width of the second area are/is adjusted, for example: the second area corresponds to four vertexes and four edges, and when a user drags the position of a certain vertex, the length and the width of the second area are enlarged or reduced in the same proportion; when a user drags the position of one side, the corresponding length or width is increased or decreased; when the user drags the area center or the position where the non-vertex or the non-edge is located, the position of the area center of the second area is adjusted, the length and the width of the second area are kept unchanged, and therefore the position of the second area in the area map is adjusted.

After the position of the second area in the area map is determined, the remote control equipment calls a flight path algorithm to generate a flight path according to the positions of four vertexes of the second area, and plans the flight path on the area map, wherein the flight path does not pass through the position of the second area, namely, the second area is used for setting a no-flight area of the unmanned aerial vehicle, the task flight interface further comprises a take-off control, and after the take-off control is triggered, the remote control equipment stores task information corresponding to the flight path planned according to the second area and generates a second task instruction.

(4) The task type is a historical task:

referring to fig. 15, fig. 15 is a flowchart illustrating a fourth example of generating a second task instruction according to the present application;

as shown in fig. 15, a fourth flow for generating a second task instruction includes:

Specifically, after the user selects the historical task, that is, after the second task is determined to be the historical task, the historical record interface is entered, the user determines the historical airline task through the selection operation of the historical record interface, and imports the historical airline task to determine task information corresponding to the historical airline task, and the method includes: flight path track, flight point coordinates and the like.

Determining task information corresponding to the historical airline task to obtain a second task instruction, wherein the step of determining task information corresponding to the historical airline task comprises the following steps:

and the remote control equipment stores the task information corresponding to the historical air line task after the take-off control is triggered, and generates a second task instruction.

In an embodiment of the present application, the method further comprises:

adjusting task information of historical airline tasks, such as: and acquiring information such as waypoint information, route tracks and the like to obtain the adjusted historical route task, and storing task information corresponding to the adjusted historical route task to obtain a second task instruction.

It can be understood that, since the air task does not need to ascend hover point, descend hover point and return point for flight, if the historical course task contains the ascending hover point, the descending hover point and the return point, the ascending hover point, the descending hover point and the return point are automatically removed.

In an embodiment of the present application, importing the history task further includes:

selecting a local folder of the remote control device or a storage device connected to the remote control device, for example: the method comprises the following steps of analyzing waypoint information in a KML/KMZ/JSON format airline file on a U disk, calling an airline algorithm library for each corresponding coordinate information and corresponding parameters, and displaying generated airlines on a map, wherein the navigation route file is in a KML/KMZ/JSON format, and comprises the following steps: and (4) transmitting the coordinate points input by the user into a route algorithm library to obtain a route track of the unmanned aerial vehicle, and calling an application program of a map for displaying.

Referring to fig. 16 again, fig. 16 is a schematic diagram of a history interface provided in an embodiment of the present application;

as shown in fig. 16, the history recording interface includes an import history task control, when the import history task control is triggered, icons of a plurality of history tasks are generated, and when an icon of a certain history task is triggered, the remote control device responds to the history task corresponding to the icon of the history task, and presents task information of the history task to the task flight interface.

Step S202: and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task.

Specifically, after the remote control device generates a second task instruction, the second task instruction is sent to the unmanned aerial vehicle in response to a sending operation of the user, wherein the second task instruction corresponds to a second task, and the second task instruction is used for enabling the unmanned aerial vehicle to pause the second task and execute the second task corresponding to the second task instruction, that is, after the unmanned aerial vehicle receives the second task instruction, the second task instruction is analyzed to obtain task information of the second task corresponding to the second task instruction, and the current task is paused to execute the second task.

The second task instruction can correspond to one or more second tasks, the second tasks are inserted in the execution process of the first tasks, the current task state of the unmanned aerial vehicle can be flexibly adjusted, the second task instruction can correspond to the second tasks, the newly-built tasks have no upper limit, and the tasks are executed one by one as long as the unmanned aerial vehicle is executed in a conditional mode, so that the scheduling efficiency of the unmanned aerial vehicle is improved.

It will be appreciated that the unmanned aerial vehicle may hover in the air or return to a designated waypoint after performing a second mission, i.e., a temporary airline mission.

2. Taking the execution subject of the online planning method of the airline task as the terminal equipment as an example, the online planning method of the airline task is applied to the terminal equipment, and the terminal equipment is in communication connection with the remote control equipment and the unmanned aerial vehicle.

Unlike the implementation subject being a terminal device, the user's operation of the remote control device is transmitted to the terminal device and responded by the terminal device, for example: in response to the operation of the user interface of the remote control device, a corresponding process is performed to interact with the unmanned aerial vehicle, for example:

and in the flight process of the unmanned aerial vehicle in the first task, the terminal equipment responds to the operation of the user interface of the remote control equipment to generate a second task instruction and send the second task instruction to the unmanned aerial vehicle.

In this embodiment, the terminal device also includes a user interface, and the user may also perform corresponding steps mentioned in the above method by operating the user interface of the terminal device, for example:

and the processor of the terminal equipment responds to the operation of the user on the user interface of the terminal equipment by the user and generates a second task instruction.

It should be noted that, the relevant contents for operating the interface of the remote control device may refer to the contents mentioned in the above embodiments, for example: the processing modes of the interfaces such as the task editing interface, the task flight interface, the temporary route preview interface, the historical record interface and the like are not described in detail herein.

In an embodiment of the present application, a method for online planning of an airline task is provided, the method including: in the flight process of the unmanned aerial vehicle in the first task, responding to the operation of a user interface of the remote control equipment, and generating a second task instruction, wherein the second task instruction corresponds to a second task; and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task. By planning a new task temporarily in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, the problem that the scheduling efficiency is insufficient due to the fact that the unmanned aerial vehicle can only execute a single task in the flight process can be solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

Referring to fig. 17, fig. 17 is a schematic flowchart illustrating another method for online planning of an airline task according to an embodiment of the present application;

the on-line planning method of the flight route task can be applied to an unmanned aerial vehicle or terminal equipment, wherein the unmanned aerial vehicle is in communication connection with remote control equipment, and the terminal equipment is in communication connection with the remote control equipment and the unmanned aerial vehicle.

1. Taking the execution subject of the online planning method of the airline task as an example of an unmanned aerial vehicle, the online planning method of the airline task is applied to the unmanned aerial vehicle, and the unmanned aerial vehicle is in communication connection with the remote control equipment.

As shown in fig. 17, the method for online planning of an airline task includes:

step S1701: acquiring a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task;

step 1702: and according to the second task instruction, suspending the first task and executing the second task.

Referring to fig. 18, fig. 18 is a flowchart for executing a second task according to an embodiment of the present application;

in an embodiment of the application, the second task instruction includes a plurality of second tasks, and the second task instruction corresponds to a task file.

As shown in fig. 18, according to the second task instruction, suspending the first task and executing the second task includes:

step S1801: determining an execution order of the plurality of second tasks;

step S1802: and executing the plurality of second tasks one by one according to the execution sequence.

In this embodiment of the present application, the determining an execution sequence of the plurality of second tasks, where the plurality of second tasks correspond to one task file, and each second task corresponds to one file header and one file content, includes:

Specifically, the second task instruction corresponds to a task file, the task file includes one or more second tasks, each second task corresponds to a file header and a file content, and before the remote control device sends the second task instruction to the unmanned aerial vehicle, an execution sequence of each second task is determined, where the execution sequence is determined by a sequence of the file headers.

In an embodiment of the present application, the task file includes a KML, KMZ, or JSON formatted airline file.

Different from the fact that the execution subject is the unmanned aerial vehicle, the second task instruction sent by the remote control device is received by the terminal device, and the terminal device executes the second task instruction to the unmanned aerial vehicle to suspend the first task of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes a second task corresponding to the second task instruction, for example:

and in the flight process of the unmanned aerial vehicle in the first task, the terminal equipment acquires a second task instruction sent by the remote control equipment, and sends the second task instruction to the unmanned aerial vehicle according to the second task instruction, so that the unmanned aerial vehicle suspends the first task and executes the second task.

It should be noted that, for the relevant contents of the processing manners of the plurality of second tasks in the second task instruction, reference may be made to the contents mentioned in the foregoing embodiments, for example: the execution sequence and the related content of the file header are not described herein again.

It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.

In an embodiment of the present application, a method for online planning of an airline task is provided, the method including: acquiring a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task; and according to the second task instruction, suspending the first task and executing the second task. By planning a new task temporarily in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, the problem of insufficient scheduling efficiency caused by the fact that the unmanned aerial vehicle can only execute a single task in the flight process can be solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

Referring to fig. 20, fig. 20 is a schematic flowchart illustrating another method for on-line planning of airline tasks according to the embodiment of the present application;

as shown in fig. 20, the flow of the online planning method for the airline task includes:

step S2001: the unmanned aerial vehicle is in a flight process of a first task;

step S2002: the remote control equipment sends a second task instruction to the unmanned aerial vehicle;

step S2003: the unmanned aerial vehicle analyzes the second task instruction and determines a plurality of second tasks;

step S2004: the unmanned aerial vehicle determines an execution sequence of a plurality of second tasks;

step S2005: the first task is suspended and the plurality of second tasks are sequentially executed.

Referring to fig. 21 again, fig. 21 is a schematic structural diagram of an on-line planning device for airline tasks according to an embodiment of the present application;

the on-line planning device for the airline tasks can be applied to remote control equipment or terminal equipment, the remote control equipment is in communication connection with the unmanned aerial vehicle, and the terminal equipment is in communication connection with the remote control equipment and the unmanned aerial vehicle.

As shown in fig. 21, the on-line planning device 210 for the airline task includes:

the task generating module 211 is configured to generate a second task instruction in response to an operation on a user interface of the remote control device during a flight process of the unmanned aerial vehicle in a first task, where the second task instruction corresponds to a second task;

and a task sending module 212, configured to send a second task instruction to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and execute the second task.

It should be noted that the online planning device for the airline task can execute the online planning method for the airline task provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in the embodiment of the online planning device for the airline task, reference may be made to the online planning method for the airline task provided in the embodiment of the present application.

In an embodiment of the present application, by providing an online planning apparatus for an airline task, the apparatus includes: the task generating module is used for responding to the operation of a user interface of the remote control equipment in the flight process of the first task of the unmanned aerial vehicle and generating a second task instruction, wherein the second task instruction corresponds to the second task; and the task sending module is used for sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task. By planning a new task temporarily in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, the problem of insufficient scheduling efficiency caused by the fact that the unmanned aerial vehicle can only execute a single task in the flight process can be solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

Referring to fig. 22 again, fig. 22 is a schematic structural diagram of another online planning device for airline tasks according to an embodiment of the present application;

the on-line planning device for the airline tasks can be applied to an unmanned aerial vehicle or terminal equipment, the unmanned aerial vehicle is in communication connection with remote control equipment, and the terminal equipment is in communication connection with the remote control equipment and the unmanned aerial vehicle.

As shown in fig. 22, the online planning device 220 for the airline task includes:

the task obtaining module 221 is configured to obtain a second task instruction sent by the remote control device in a flight process of the unmanned aerial vehicle in the first task, where the second task instruction corresponds to the second task;

the task execution module 222 is configured to suspend the first task and execute the second task according to the second task instruction.

In an embodiment of the present application, by providing an online planning apparatus for an airline task, the apparatus includes: the task obtaining module is used for obtaining a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task; and the task execution module is used for suspending the first task and executing the second task according to the second task instruction. By planning a new task temporarily in the flight process of the unmanned aerial vehicle in a certain task, the unmanned aerial vehicle executes the new task, the problem that the scheduling efficiency is insufficient due to the fact that the unmanned aerial vehicle can only execute a single task in the flight process can be solved, and the scheduling efficiency of the unmanned aerial vehicle is improved.

Referring to fig. 23, fig. 23 is a schematic structural diagram of a remote control device according to an embodiment of the present application;

as shown in fig. 23, the remote control device 230 includes, but is not limited to: radio frequency unit 231, network module 232, audio output unit 233, input unit 234, sensor 235, display unit 236, user input unit 237, interface unit 238, memory 239, processor 2310, and power supply 2311, and remote control device 230 further includes a camera. Those skilled in the art will appreciate that the configuration of the remote control device shown in fig. 23 does not constitute a limitation of the remote control device, and that the remote control device may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. In the embodiment of the present application, the remote control device includes, but is not limited to, a mobile terminal such as a mobile phone, a tablet computer, or a smart remote controller.

A processor 2310 configured to generate a second task instruction in response to an operation on a user interface of the remote control device while the unmanned aerial vehicle is in a flight of the first task, where the second task instruction corresponds to the second task; and sending a second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task.

In the embodiment of the application, the new task is planned temporarily in the flight process of the unmanned aerial vehicle in a certain task, so that the unmanned aerial vehicle executes the new task.

It should be understood that, in the embodiment of the present application, the radio frequency unit 231 may be used for receiving and sending signals during a message sending and receiving process or a call process, and specifically, receives downlink data from a base station and then processes the received downlink data to the processor 2310; in addition, the uplink data is transmitted to the base station. Generally, the radio frequency unit 231 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 231 may also communicate with a network and other devices through a wireless communication system.

Remote control device 230 provides wireless broadband internet access to the user via network module 232, such as to assist the user in emailing, browsing web pages, and accessing streaming media.

The audio output unit 233 may convert audio data received by the radio frequency unit 231 or the network module 232 or stored in the memory 239 into an audio signal and output as sound. Also, the audio output unit 233 may also provide audio output related to a specific function performed by the remote control device 230 (e.g., a call signal reception sound, a message reception sound, etc.). The audio output unit 233 includes a speaker, a buzzer, a receiver, and the like.

The input unit 234 is used to receive an audio or video signal. The input Unit 234 may include a Graphics Processing Unit (GPU) 2341 and a microphone 2342, and the Graphics processor 2341 processes a target image of a still picture or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 236. The image frames processed by the graphic processor 2341 may be stored in the memory 239 (or other storage medium) or transmitted via the radio frequency unit 231 or the network module 232. The microphone 2342 may receive sound and may be capable of processing such sound into audio data. The processed audio data may be converted into a format output transmittable to a mobile communication base station via the radio frequency unit 231 in case of the phone call mode.

The remote control device 230 also includes at least one sensor 235, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor includes an ambient light sensor that adjusts the brightness of the display panel 2361 according to the brightness of ambient light, and a proximity sensor that turns off the display panel 2361 and/or the backlight when the remote control device 230 is moved to the ear. As one type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), detect the magnitude and direction of gravity when stationary, and can be used to identify the gesture of a remote control device (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration identification related functions (such as pedometer, tapping), and the like; the sensors 235 may also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which are not described in detail herein.

The display unit 236 serves to display information input by the user or information provided to the user. The Display unit 236 may include a Display panel 2361, and the Display panel 2361 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.

The user input unit 237 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the remote control device. Specifically, the user input unit 237 includes a touch panel 2371 and other input devices 2372. The touch panel 2371, also referred to as a touch screen, may collect touch operations by a user on or near the touch panel 2371 (e.g., operations by a user on or near the touch panel 2371 using a finger, a stylus, or any suitable object or attachment). The touch panel 2371 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 2310, and receives and executes commands sent by the processor 2310. In addition, the touch panel 2371 can be implemented by various types such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. The user input unit 237 may include other input devices 2372 in addition to the touch panel 2371. In particular, other input devices 2372 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.

Further, the touch panel 2371 can be overlaid on the display panel 2361, and when the touch panel 2371 detects a touch operation on or near the touch panel 2371, the touch operation is transmitted to the processor 2310 to determine the type of the touch event, and then the processor 2310 provides a corresponding visual output on the display panel 2361 according to the type of the touch event. Although the touch panel 2371 and the display panel 2361 are shown as two separate components in fig. 23 to implement the input and output functions of the remote control device, in some embodiments, the touch panel 2371 and the display panel 2361 may be integrated to implement the input and output functions of the remote control device, and the implementation is not limited herein.

The interface unit 238 is an interface for connecting an external device to the remote control apparatus 230. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 238 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the remote control apparatus 230 or may be used to transmit data between the remote control apparatus 230 and the external device.

The memory 239 may be used to store software programs as well as various data. The memory 239 may mainly include a program storage area and a data storage area, where the program storage area may store an application program 2391 (such as a sound playing function, an image playing function, and the like) required for at least one function, an operating system 2392, and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 239 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The processor 2310 is a control center of the remote control device, connects various parts of the entire remote control device using various interfaces and lines, and performs various functions of the remote control device and processes data by operating or executing software programs and/or modules stored in the memory 239 and calling data stored in the memory 239, thereby integrally monitoring the remote control device. The processor 2310 may include one or more processing units; in an embodiment of the application, the processor 2310 may integrate an application processor and a modem processor, wherein the application processor mainly handles operating systems, user interfaces, application programs, and the like, and the modem processor mainly handles wireless communications. It is to be appreciated that the modem processor can be separate from and integrated with the processor 2310.

The remote control device 230 may also include a power supply 2311 (e.g., a battery) for powering the various components, and in this embodiment, the power supply 2311 may be logically coupled to the processor 2310 via a power management system to manage charging, discharging, and power consumption via the power management system.

In addition, the remote control device 230 includes some functional modules that are not shown, and will not be described in detail herein.

The embodiment of the present application further provides a remote control device, which includes a processor 2310, a memory 239, and a computer program stored in the memory 239 and capable of running on the processor 2310, where the computer program, when executed by the processor 2310, implements each process of the above-mentioned online planning method for an airline task, and can achieve the same technical effect, and is not described herein again to avoid repetition.

Referring to fig. 24, fig. 24 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

as shown in fig. 24, the unmanned aerial vehicle 240 includes: a processor 241, a memory 242, and a communication module 243. The processor 241, the memory 242, and the communication module 243 establish communication connection therebetween in a bus manner.

Processor 241 may be of any type having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.

Specifically, the processor 241 is configured to: acquiring a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task; and according to the second task instruction, suspending the first task and executing the second task.

The memory 242, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the online planning method for airline tasks in the embodiments of the present application. The processor 241 implements the method for online planning of airline tasks in the above-described method embodiments by executing non-transitory software programs, instructions, and modules stored in the memory 242.

The memory 242 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the stored data area may store data created from use of an on-line planning device for an airline mission, and the like. Further, the memory 242 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 242 optionally includes memory located remotely from processor 241, which may be connected to the UAV via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 242 stores instructions executable by the at least one processor 241; the at least one processor 241 is configured to execute instructions to implement a method for online planning of airline tasks in any of the method embodiments described above.

The communication module 243 is a functional module for establishing a communication connection and providing a physical channel. The communication module 243 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.

Referring to fig. 25 again, fig. 25 is a schematic structural diagram of an online planning system for airline tasks according to an embodiment of the present disclosure;

as shown in FIG. 25, the system 250 for online planning of airline tasks includes: a remote control device 251, and an unmanned aerial vehicle 252, wherein the remote control device 251 is communicatively coupled to the unmanned aerial vehicle 252.

The number of the remote control devices 251 in this embodiment may be multiple, where multiple remote control devices 251 are directly connected to one unmanned aerial vehicle 252 in a communication manner, or some or all of the multiple remote control devices 251 are connected to the unmanned aerial vehicle 252 in a communication manner through a base station, so as to control the unmanned aerial vehicle 252.

For the content of the remote control device 251 of the online planning system 250 for airline tasks in the embodiment of the present application, reference may be made to the remote control devices mentioned in the above embodiments, and details are not described here.

The unmanned aerial vehicle 252 of the online planning system 250 for airline tasks in the embodiment of the present application may refer to the unmanned aerial vehicle mentioned in the above embodiments, and details thereof are not repeated here.

In the embodiment of the application, by providing the online planning system for the airline task, which comprises the remote control device in the embodiment and the unmanned aerial vehicle in the embodiment, a new task is planned temporarily in the flight process of the unmanned aerial vehicle in a certain task, so that the unmanned aerial vehicle executes the new task.

Referring to fig. 26 again, fig. 26 is a schematic structural diagram of another online planning system for airline tasks according to an embodiment of the present application;

as shown in FIG. 26, the system 260 for online planning of airline tasks includes: remote control device 261, unmanned vehicles 262 and terminal equipment 263, wherein, remote control device 261 is connected with unmanned vehicles 262 in communication, unmanned vehicles 262 is connected with terminal equipment 263 in communication, and terminal equipment 263 is connected with remote control device 261 in communication.

In this embodiment, the number of the remote control devices 261 may be multiple, where multiple remote control devices 261 are directly connected to one unmanned aerial vehicle 262 in a communication manner, or some or all of the multiple remote control devices 261 are connected to the unmanned aerial vehicle 262 in a communication manner through a base station, so as to control the unmanned aerial vehicle 262.

Wherein, the terminal device 263 may be configured to directly send a control instruction to the remote control device 261 and/or the unmanned aerial vehicle 262, so as to control the operation of the remote control device 261 and/or the unmanned aerial vehicle 262;

alternatively, the terminal device 263 serves as a transfer station of the remote control device 261 and the unmanned aerial vehicle 262, and is used for forwarding data or commands or information between the remote control device 261 and the unmanned aerial vehicle 262, so as to realize interaction between the remote control device 261 and the unmanned aerial vehicle 262.

For the related content of the remote control device 261 of the online planning system 260 for airline tasks in the embodiment of the present application, reference may be made to the remote control devices mentioned in the above embodiments, and details thereof are not described herein.

For the content of the unmanned aerial vehicle 262 of the online planning system 260 for airline tasks in the embodiment of the present application, reference may be made to the unmanned aerial vehicle mentioned in the above embodiment, and details are not described herein again.

The terminal devices 263 of the online planning system 260 for airline tasks in the embodiment of the present application include, but are not limited to, fixed terminals, servers, personal computers, notebook computers, palm computers, vehicle-mounted terminals, and the like.

Further, embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which when executed by one or more processors, may cause the one or more processors to perform the method for online planning of airline tasks in any of the above method embodiments.

Further, embodiments of the present application also provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program, the computer program being operable to cause a computer to perform some or all of the steps described in the method for online planning of an airline task in any of the above-mentioned method embodiments. The computer program product may be a software installation package.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. Some or all of the modules are selected according to actual needs to achieve the purpose of the scheme of the embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. 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 associated hardware as a computer program in a computer program product, the computer program can be stored in a non-transitory computer readable storage medium, the computer program includes program instructions, and when the program instructions are executed by an associated device, the associated device can be caused to execute the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The product can execute the online planning method of the airline task provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the online planning method of the airline task. Technical details which are not described in detail in the embodiment can be referred to an online planning method of the airline task provided by the embodiment of the application.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for on-line planning of airline tasks, the method comprising:

in the flight process of the unmanned aerial vehicle in the first task, responding to the operation of a user interface of the remote control equipment, and generating a second task instruction, wherein the second task instruction corresponds to a second task;

and sending the second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to pause the first task and execute the second task.

2. The method of claim 1, wherein generating a second task instruction in response to operating a user interface of a remote control device comprises:

responding to a first operation on the user interface, and entering a task editing mode, wherein the first operation is used for triggering the remote control equipment to enter a task editing interface;

3. The method of claim 2, wherein the task type of the second task comprises a waypoint task, the method further comprising: after the second task is determined to be a waypoint task, entering a task flight interface;

the acquiring of the task information corresponding to the task type and the generating of the second task instruction include:

responding to a first operation of the task flight interface, and determining task information corresponding to the waypoint task, wherein the task information corresponding to the waypoint task comprises waypoint coordinates of a plurality of waypoints;

and generating a route path of a second task according to the waypoint coordinates of the waypoints to obtain a second task instruction.

4. The method of claim 3, wherein generating a course path for a second mission from waypoint coordinates for a plurality of the waypoints to obtain second mission instructions comprises:

after generating a route path of a second task, entering a temporary route preview interface, wherein the temporary route preview interface is used for confirming parameters corresponding to the route path of the second task, and the parameters corresponding to the route path of the second task comprise waypoint information corresponding to each waypoint;

5. The method of claim 2, wherein the task type of the second task comprises a regional flight task, the method further comprising: after the second task is determined to be a regional flight task, entering a task flight interface;

6. The method according to claim 5, wherein the determining task information corresponding to the regional flight mission in response to the second operation on the mission flight interface to obtain a second mission command comprises:

generating a region composed of a preset length and a preset width in the task flight interface according to the region center coordinate, and taking the region as a first region;

responding to the operation of a first area in the task flight interface, adjusting the length and/or the width of the first area to determine the position information of the first area, and obtaining a second task instruction.

7. The method of claim 2, wherein the task type of the second task comprises an electronic fence task, the method further comprising: after the second task is determined to be the electronic fence task, entering a task flight interface;

and responding to a third operation on the task flight interface, and determining task information corresponding to the electronic fence task to obtain a second task instruction, wherein the task information corresponding to the electronic fence task comprises position information of a second area, and the second area is a no-fly area corresponding to the electronic fence task.

8. The method of claim 2, wherein the task type of the second task comprises a historical task, the method further comprising: after the second task is determined to be a historical task, entering a historical record interface;

and responding to the selection operation of the historical record interface, importing a historical airline task, and determining task information corresponding to the historical airline task to obtain a second task instruction.

9. A method for on-line planning of an airline task, the method comprising:

acquiring a second task instruction in the flight process of the unmanned aerial vehicle in the first task, wherein the second task instruction corresponds to the second task;

10. The method of claim 9, wherein the second task instruction comprises a plurality of second tasks, and wherein suspending the first task and executing the second task according to the second task instruction comprises:

determining an execution order of a plurality of the second tasks;

11. The method of claim 10, wherein a plurality of the second tasks corresponds to a task file, each second task corresponds to a file header and a file content, and wherein determining the execution order of the plurality of the second tasks comprises:

analyzing the task file, and determining the sequence of file headers of a plurality of second tasks;

and determining the execution sequence of the second tasks according to the sequence of the file headers.

12. An apparatus for on-line planning of airline tasks, the apparatus comprising:

and the task sending module is used for sending the second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used for enabling the unmanned aerial vehicle to suspend the first task and execute the second task.

13. An apparatus for on-line planning of airline tasks, the apparatus comprising:

the task acquisition module is used for acquiring a second task instruction sent by the remote control equipment in the flight process of the unmanned aerial vehicle in a first task, wherein the second task instruction corresponds to a second task;

and the task execution module is used for suspending the first task and executing the second task according to the second task instruction.

14. A remote control device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of online planning of an airline task according to any of claims 1-8.

15. An unmanned aerial vehicle, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of online planning of an airline task according to any of claims 9-11.

16. An on-line planning system for airline tasks, comprising:

the remote control device of claim 14;

the unmanned aerial vehicle of claim 15.