WO2022193192A1 - 无人机调度方法、服务器、基站、***及可读存储介质 - Google Patents
无人机调度方法、服务器、基站、***及可读存储介质 Download PDFInfo
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- WO2022193192A1 WO2022193192A1 PCT/CN2021/081383 CN2021081383W WO2022193192A1 WO 2022193192 A1 WO2022193192 A1 WO 2022193192A1 CN 2021081383 W CN2021081383 W CN 2021081383W WO 2022193192 A1 WO2022193192 A1 WO 2022193192A1
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Classifications
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Definitions
- the present application relates to the field of UAVs, and in particular, to a UAV scheduling method, a server, a base station, a system and a readable storage medium.
- drones have grown rapidly in the fields of aerial survey, power line inspection, natural gas (petroleum) pipeline inspection, forest fire prevention, emergency rescue and disaster relief, and smart cities.
- people mainly buy drones first, and then bring their own drones to the scene for shooting.
- the cost of purchasing a drone is high, and maintenance is required after purchase, and the maintenance cost is also high. , resulting in a high threshold for the use of drones and a poor user experience.
- the embodiments of the present application provide an unmanned aerial vehicle scheduling method, server, base station, system and readable storage medium, which aim to lower the use threshold of the unmanned aerial vehicle and improve the convenience of using the unmanned aerial vehicle.
- an embodiment of the present application provides a method for scheduling drones, which is applied to a server, where the server is configured to communicate with multiple base stations, and each of the base stations is configured to communicate with multiple drones,
- the method includes:
- the image data sent by the target base station is acquired, and the image data is sent to the terminal device for display, where the image data is collected when the UAV performs the flight mission.
- the flight task and target flight area of the UAV to be scheduled are determined based on the UAV rental request of the terminal device, and the target to which the UAV to be scheduled belongs in the multiple base stations is determined.
- the base station controls the idle drones to perform the flight mission in the target flight area, and then the server obtains the image data collected by the drone sent by the target base station when the drone performs the flight mission, and sends the image data to the terminal device for display, thereby Realizing the leasing and scheduling of drones, users can use drones without purchasing drones, which greatly reduces the threshold for using drones and improves the convenience of drones.
- an embodiment of the present application further provides a method for scheduling UAVs, which is applied to a base station, where the base station is connected to multiple UAVs in communication and is used to control the multiple UAVs, and the method includes: :
- the image data is sent to the server, so that the server sends the image data to the terminal device for display.
- the flight mission and the target flight area determined based on the UAV rental request sent by the server are obtained, and the idle target UAV is controlled to perform the flight mission in the target flight area, and then Obtain the image data sent by the target UAV and collected during the flight mission, and send the image data to the server, so that the server can send the image data to the terminal device for display, realizing the rental and control of the UAV , users can use drones without buying drones, which greatly reduces the threshold for using drones and improves the convenience of drones.
- an embodiment of the present application further provides a server, where the server is configured to communicate with multiple base stations, and each of the base stations is configured to communicate with multiple UAVs for controlling the multiple UAVs.
- the server includes a wireless communication device, a memory and a processor;
- the wireless communication device for communicating with a plurality of base stations
- the memory is used to store computer programs
- the processor is configured to execute the computer program and implement the following steps when executing the computer program:
- the image data sent by the target base station is acquired, and the image data is sent to the terminal device for display, where the image data is collected when the UAV performs the flight mission.
- an embodiment of the present application further provides a base station, where the base station includes a first wireless communication device, a second wireless communication device, a memory, and a processor;
- the first wireless communication device is used for communication connection with the server
- the second wireless communication device is used for communication connection with multiple unmanned aerial vehicles
- the base station is used for controlling the multiple unmanned aerial vehicles
- the memory is used to store computer programs
- the processor is configured to execute the computer program and implement the following steps when executing the computer program:
- the image data is sent to the server, so that the server sends the image data to the terminal device for display.
- an embodiment of the present application further provides an unmanned aerial vehicle scheduling system, where the unmanned aerial vehicle scheduling system includes the above-mentioned server and multiple base stations, or the unmanned aerial vehicle scheduling system includes a server and multiple base stations.
- the above-mentioned base stations, or, the UAV scheduling system includes the above-mentioned server and a plurality of the above-mentioned base stations.
- an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned UAV scheduling method.
- FIG. 1 is a schematic diagram of a scenario for implementing the UAV scheduling method provided by the embodiment of the present application
- FIG. 2 is a schematic flowchart of steps of a method for scheduling an unmanned aerial vehicle provided by an embodiment of the present application
- FIG. 3 is a schematic flowchart of steps of another UAV scheduling method provided by an embodiment of the present application.
- Fig. 4 is a scene schematic diagram of replacing the target drone in the embodiment of the present application.
- FIG. 5 is a schematic structural block diagram of a server provided by an embodiment of the present application.
- FIG. 6 is a schematic block diagram of the structure of a base station provided by an embodiment of the present application.
- FIG. 7 is a schematic block diagram of the structure of an unmanned aerial vehicle scheduling system provided by an embodiment of the present application.
- drones have grown rapidly in the fields of aerial survey, power line inspection, natural gas (petroleum) pipeline inspection, forest fire prevention, emergency rescue and disaster relief, and smart cities.
- people mainly buy drones first, and then bring their own drones to the scene for shooting.
- the cost of purchasing a drone is high, and maintenance is required after purchase, and the maintenance cost is also high. , resulting in a high threshold for the use of drones and a poor user experience.
- the embodiments of the present application provide a UAV scheduling method, a server, a base station, a system and a readable storage medium, which determine the flight task and target of the UAV to be scheduled based on the UAV rental request of the terminal device.
- the collected image data is sent to the terminal device for display, so as to realize the rental and scheduling of UAVs, and users can use UAVs without purchasing UAVs, which greatly reduces the cost of UAVs.
- the threshold for use and the convenience of using the drone are improved.
- FIG. 1 is a schematic diagram of a scenario for implementing the UAV scheduling method provided by the embodiment of the present application.
- this scenario includes a server 100 , multiple base stations 200 communicatively connected to the server 100 , and multiple drones 300 communicatively connected to the base station 200 , and the base station 200 is used to control the multiple drones 300 .
- the server 100 includes a wireless communication device
- the base station 200 includes a first wireless communication device and a second wireless communication device
- the drone 300 includes a third wireless communication device.
- the wireless communication device can realize the communication connection between the server 100 and the base station 200, and the second wireless communication device in the base station 200 and the third wireless communication device in the drone 300 can realize the communication connection between the base station 200 and the drone 300. communication connection.
- the communication connection between the drone 300 and the server 100 can also be realized through the fourth wireless communication device in the drone 300 and the wireless communication device in the server 100 .
- the first wireless communication device and the fourth wireless communication device may be public network wireless communication devices, the public network wireless communication devices include but are not limited to 4G communication devices, 5G communication devices and 6G communication devices, the second wireless communication device communicates with the third wireless communication device
- the device may be a private network wireless communication device, and the private network wireless communication device includes a wireless communication device implemented based on software defined radio (Software Defined Radio, SDR) such as Lightbridge and Ocusync.
- SDR Software Defined Radio
- a first wireless communication link and a second wireless communication link can be established between the base station 200 and the drone 300, the first wireless communication link may be a private wireless communication link, and the second wireless communication link may be It is a public network wireless communication link, the first wireless communication link is established through the second wireless communication device in the base station 200 and the third wireless communication device in the drone 300, and the second wireless communication link is established through the base station 200
- the first wireless communication device in the drone 300 is established with the fourth wireless communication device in the drone 300 .
- the UAV 300 includes a body 310 , a power system 320 disposed on the body 310 , a camera 330 and a control system (not shown in FIG. 1 ).
- the power system 320 is used to provide the UAV 300 with To move the power, the camera 330 is used to collect image data.
- the UAV 300 may include a rotary-wing UAV, such as a single-rotor UAV, a dual-rotor UAV, a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV.
- the unmanned aerial vehicle can also be a combination of a rotary-wing type and a fixed-wing unmanned aerial vehicle, which is not limited here.
- the power system 320 may include one or more propellers 321 , one or more motors 322 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short).
- the motor 322 is connected between the electronic governor and the propeller 321, and the motor 322 and the propeller 321 are arranged on the body 310 of the UAV 300; the electronic governor is used to receive the driving signal generated by the control system, and provide according to the driving signal Driving current is supplied to the motor 322 to control the rotational speed of the motor 322 .
- the motor 322 is used to drive the propeller 321 to rotate, thereby providing power for the movement of the drone 300, and the power enables the drone 300 to achieve one or more degrees of freedom movement.
- the drone 300 may rotate about one or more axes of rotation.
- the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis.
- the motor 322 may be a DC motor or an AC motor.
- the motor 322 may be a brushless motor or a brushed motor.
- the control system may include a processor and a sensing system.
- the sensing system is used to measure the attitude information of the UAV 300, that is, the position information and state information of the UAV 300 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
- the sensing system may include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, a barometer, and other sensors.
- the global navigation satellite system may be the Global Positioning System (GPS).
- the terminal device can be connected in communication with the server 100, and the server 100 obtains the drone rental request sent by the terminal device, and according to the drone rental request, determines the flight task to be performed and the target flight when performing the flight task. area; obtain the target base station to which the UAV performing the flight mission belongs from multiple base stations 200; send the flight mission and the target flight area to the target base station, so that the target base station can control the idle UAV 300 within the target flight area Execute the flight mission; obtain the image data sent by the target base station when the UAV performs the flight mission, and send the image data to the terminal device for display.
- the UAV scheduling method provided by the embodiments of the present application will be described in detail in conjunction with the scenario in FIG. 1 .
- the scenario in FIG. 1 is only used to explain the drone scheduling method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the drone scheduling method provided by the embodiment of the present application.
- FIG. 2 is a schematic flowchart of steps of a method for scheduling an unmanned aerial vehicle provided by an embodiment of the present application.
- the UAV scheduling method may include steps S101 to S104.
- Step S101 acquiring a drone rental request sent by a terminal device, and determining a flight task to be performed and a target flight area when performing the flight task according to the drone rental request.
- the terminal device displays a drone rental page, the drone rental page includes a city map, a job task list and a rental confirmation icon; in response to the user's selection operation on the job task in the job task list, the job task selected by the user is determined; In response to the user's area selection operation on the city map, the target flight area selected by the user is marked on the city map; in response to the user's trigger operation on the rental confirmation icon, the drone is generated according to the job task and the target flight area. Rental request, and send a drone rental request to the server.
- the server parses the drone rental request to obtain the flight task to be performed and the target flight area when performing the flight task.
- the flight tasks include security monitoring tasks, scenic aerial photography tasks, road monitoring tasks, and spraying operations.
- the collected image data is uploaded to the base station, which is then forwarded to the server by the base station.
- Scenic aerial photography tasks refer to drones flying in designated scenic spots, photographing scenery or people, and uploading the collected image data to the server, or uploading the collected image data to the base station, which is then forwarded to the server by the base station.
- Step S102 Acquire, from the plurality of base stations, the target base station to which the UAV performing the flight mission belongs.
- the distance between the target flight area and each base station is determined; according to the distance between the target flight area and each base station, the target base station to which the drone performing the flight mission belongs is determined from the multiple base stations, The base station corresponding to the shortest distance among the multiple base stations is determined as the target base station to which the UAV performing the flight mission belongs.
- the method of determining the distance between the target flight area and the base station may be as follows: acquiring first position information of the target flight area and second position information of the base station, and determining the distance between the target flight area and the base station according to the first position information and the second position information. distance between the base stations.
- the terminal device displays a drone rental page
- the drone rental page includes a city map, a job task list, and a rental confirmation icon
- the city map displays the marking icons of multiple base stations
- the selection operation of the operation task in the operation task list determines the operation task selected by the user; in response to the user's area selection operation on the city map, the target flight area selected by the user is marked on the city map; in response to the user's selection of any mark
- the icon selection operation obtains the base station identification information corresponding to the marked icon selected by the user; in response to the user's trigger operation on the lease confirmation icon, a drone rental request is generated according to the job task, the target flight area and the base station identification information, and Send the drone rental request to the server; the server obtains the drone rental request sent by the terminal device, and obtains the base station identification information, flight task and target flight area from the drone rental request;
- the base station corresponding to the information is determined as the target base station.
- Step S103 Send the flight mission and the target flight area to the target base station, so that the target base station can control the idle drones to execute the flight mission in the target flight area.
- the server sends the flight mission and target flight area to the target base station, and the target base station obtains the flight mission and target flight area sent by the server, and determines the idle drone from the multiple drones that are connected to the target base station;
- the man-machine flies to the target flight area, and after the drone arrives at the target flight area, the drone is controlled to perform the flight task in the target flight area.
- the server obtains the flight route of the drone in the target flight area; sends the flight mission, the target flight area and the flight route to the target base station; the target base station controls the idle drone to fly to the target flight area, and After the drone reaches the target flight area, the drone is controlled to fly according to the flight route, so that the drone can perform the flight task within the target flight area.
- the flight route includes a circumnavigation route and/or a strip route.
- the method of acquiring the flight route of the drone in the target flight area may be: the server plans the flight route of the drone in the target flight area. Or, get the flight route of the drone in the target flight area from the drone rental request.
- the drone rental page displayed by the terminal device also includes a route planning icon. After determining the target flight area, in response to the user triggering the operation on the route planning icon, plan the flight route of the drone within the target flight area, After determining the flight mission, the target flight mission, and the flight route, in response to the user's triggering operation on the rental confirmation icon, a drone rental request is generated according to the flight mission, the target flight mission, and the flight route.
- Step S104 Acquire image data sent by the target base station, and send the image data to the terminal device for display, where the image data is collected when the UAV performs the flight mission.
- the UAV sends the collected image data to the target base station that is connected to the UAV in communication.
- the target base station obtains the image data sent by the UAV and forwards the image data to the server.
- Obtain the image data forwarded by the target base station and send the image data to the terminal device for display.
- the collected image data is sent to the server, and the server obtains the image data sent by the drone, and sends the image data to the terminal device for display.
- the server acquires a shooting parameter adjustment instruction sent by the terminal device, and the shooting parameter adjustment instruction is used to instruct the target base station to adjust the shooting parameters of the target drone that performs the flight mission;
- the target base station adjusts the shooting parameters of the target UAV based on the shooting parameter adjustment instruction.
- the shooting parameters include at least one of exposure parameters, follow focus parameters, zoom parameters, shooting directions, and shooting angles. By adjusting the shooting parameters, it is convenient for the drone to better capture pictures or videos that meet the user's requirements.
- the server determines whether an abnormal event occurs in the target flight area according to the image data; if an abnormal event occurs in the target flight area, an alarm is sent to the alarm processing platform.
- the prompt information is used for the alarm processing platform to perform the corresponding alarm operation according to the alarm prompt information.
- abnormal events include robbery events, smashing events, traffic accidents, drowning events, and falling buildings.
- the method of sending the alarm prompt information to the alarm processing platform may be: obtaining the time information and location information of the abnormal event; generating corresponding alarm prompt information according to the time information and the location information; The platform sends the alarm prompt information.
- the alarm processing platform includes a safety monitoring platform or a traffic command platform. If the abnormal event is a traffic abnormal event, the alarm prompt information is sent to the traffic command platform for the traffic command platform to output the alarm prompt information. If the abnormal event is a safety abnormal event , the alarm prompt information is sent to the security monitoring platform for the security monitoring platform to output the alarm prompt information.
- the traffic command platform after obtaining the warning information, obtains the location of the abnormal event from the warning information, and obtains the location information of each traffic police enforcement point; according to the location information of each traffic police enforcement point and The location of the abnormal event, determine the distance between each traffic police enforcement point and the location where the abnormal event occurs, and send the warning message to the traffic police enforcement point corresponding to the nearest distance to inform the traffic police enforcement point to deal with the abnormal event.
- the security monitoring platform after acquiring the alarm prompt information, acquires the location of the abnormal event from the alarm prompt information, and acquires the current location information sent by the terminal equipment held by each patrol officer; Location information and the occurrence location of abnormal events, determine the distance between each patrol person and the location of abnormal events, and send alarm prompt information to the terminal device held by the patrol personnel closest to the distance to inform the closest patrol personnel personnel to handle abnormal events.
- a terminal device acquires a security monitoring task and a monitoring area selected by a user, and acquires and executes security monitoring from multiple base stations.
- the target base station to which the drone of the task belongs, and then sends the security monitoring task and monitoring area to the target base station.
- the target base station controls the idle drone to perform the security monitoring task in the monitoring area, and the drone is in the process of performing the security monitoring task.
- the collected image data is sent back to the target base station, and the target base station is then uploaded to the server for storage or forwarded to the terminal device for display.
- the server can determine whether there are abnormal events in the monitoring area (such as drowning incident), if there is an abnormal incident, the patrol personnel will be notified.
- the terminal device obtains the road monitoring task and target monitoring section selected by the user, obtains the target base station to which the drone that performs the scenic spot tracking task belongs from multiple base stations, and then sends a message to the target base station.
- the road monitoring task and the target monitoring section, the target base station controls the idle drone to fly to the target monitoring section, and after the drone arrives at the target monitoring section, it controls the drone to perform the road monitoring task within the target monitoring section.
- the collected image data is sent back to the target base station, and the target base station is then uploaded to the server for storage or forwarded to the terminal device for display.
- the server can determine the target monitoring based on the received image data. Whether there is a traffic accident in the road section, if there is a traffic accident, record the relevant information of the traffic accident and inform the traffic police to deal with it.
- the target base station controls the idle drone to fly to the target scenic spot, and after reaching the target scenic spot, controls The drone takes aerial photos of the target scenic spot, and in the process of taking aerial photos of the target scenic spot, the drone sends the image data obtained from the aerial photos back to the target base station, and the target base station forwards the image data to the server, and finally the server sends the image data to the server.
- the image data is sent to the terminal device for display, and the user can watch it, or the drone directly uploads the image data obtained by following the shooting to the server, and the server sends the image data to the terminal device for display.
- the terminal device obtains the vehicle tracking task and target tracking area selected by the user, and obtains the target base station to which the drone that performs the vehicle tracking task belongs from multiple base stations, and then sends the The target base station sends the vehicle tracking task and the target tracking area.
- the target base station controls the idle drone to fly to the target tracking area, and after the drone reaches the target tracking area, it obtains the image data sent by the drone, and Send the image data to the terminal device, and then obtain the target vehicle that the user selects from the image data sent by the terminal device, and control the drone to follow the target vehicle.
- the target base station is then uploaded to the server by the target base station, or the drone directly uploads the image data obtained by the follow-up to the server.
- FIG. 3 is a schematic flowchart of steps of another UAV scheduling method provided by an embodiment of the present application.
- the UAV scheduling method is applied to a base station, the base station is connected to a plurality of UAVs in communication, and the base station is used for controlling the plurality of UAVs.
- the UAV scheduling method may include steps S201 to S205.
- Step S202 Determine an idle target drone from the multiple drones, and control the target drone to fly toward the target flight area.
- the target drone obtains the first position information of the target flight area and the second position information of the target drone; plan the flight route of the target drone to the target flight area according to the first position information and the second position information; control the The target drone flies toward the target flight area according to the flight route.
- Step S203 After the UAV arrives at the target flight area, control the target UAV to perform the flight task in the target flight area.
- the UAV After the UAV reaches the target flight area, it sends a response message to the base station to inform the base station that the UAV has reached the target flight area. At this time, the base station controls the target UAV to perform flight tasks in the target flight area.
- the flight route of the target drone in the target flight area is obtained; the target drone is controlled to fly according to the flight route, so that the target drone performs the flight task in the target flight area.
- the flight route includes a circumnavigation route and/or a strip route.
- the collected image data is sent to the base station that is in communication with the target UAV, and the base station obtains the image data sent by the target UAV and forwards the image data to the server.
- the server acquires the image data forwarded by the target base station, and sends the image data to the terminal device for display.
- the collected image data is sent to the server, and the server obtains the image data sent by the drone, and sends the image data to the terminal device for display.
- the base station acquires a shooting parameter adjustment instruction sent by the server, and the shooting parameter adjustment instruction is triggered by the terminal device; according to the shooting parameter adjustment instruction, the shooting parameters of the shooting device mounted on the target UAV are adjusted.
- the shooting parameters include at least one of exposure parameters, follow focus parameters, zoom parameters, shooting directions, and shooting angles.
- the base station obtains the object to be tracked sent by the terminal device forwarded by the server, and the object to be tracked is determined by the terminal device according to the user's frame selection operation on the target object in the image data; the target drone is controlled to be tracked.
- the target drone is controlled to be tracked.
- the object to be followed includes any one of pets, people and cars.
- the base station acquires the object to be photographed sent by the terminal device, and controls the target drone to follow the object to be photographed.
- the traffic command platform after obtaining the warning information, obtains the location of the abnormal event from the warning information, and obtains the location information of each traffic police enforcement point; according to the location information of each traffic police enforcement point and The location of the abnormal event, determine the distance between each traffic police enforcement point and the location where the abnormal event occurs, and send the warning message to the traffic police enforcement point corresponding to the nearest distance to inform the traffic police enforcement point to deal with the abnormal event.
- the security monitoring platform after acquiring the alarm prompt information, acquires the location of the abnormal event from the alarm prompt information, and acquires the current location information sent by the terminal equipment held by each patrol officer; Location information and the occurrence location of abnormal events, determine the distance between each patrol person and the location of abnormal events, and send alarm prompt information to the terminal device held by the patrol personnel closest to the distance to inform the closest patrol personnel personnel to handle abnormal events.
- the base station inputs the image data into a preset abnormal event detection model to obtain an abnormal event detection result, where the abnormal event detection model is a pre-trained neural network model; the target flight area is determined according to the abnormal event detection result Whether an abnormal event has occurred.
- the abnormal event detection model includes but is not limited to a robbery event detection model, a smashing event detection model, a traffic accident detection model, a drowning event detection model, and a falling event detection model.
- the abnormal event detection model can quickly and accurately determine whether there is an abnormal event in the target flight area.
- the current position point of the target UAV and the target waiting point are separated by a preset distance and/or height.
- the preset distance and the preset height can be set according to the actual situation, for example, the preset distance is 2 meters, and the preset height is 2 meters. Since the current position of the target UAV and the target waiting point are separated by a preset distance and/or height, when the remaining UAVs are controlled to fly to the target waiting point, the collision between the target UAV and the remaining UAVs can be prevented. Ensure the flight safety of the target UAV and other UAVs.
- the target drone 11 performs a flight mission at the current position point 21, the base station is located at the home point 22, and the battery life of the target drone 11 is the same as the target drone 11 at the current position point.
- the target drone 11 hovers at the current position point 21, and the determined target waiting point 23 and the current position point 21 are separated by 2 meters
- the remaining drones 12 can be controlled to fly towards the target waiting point 23 along the flight route 24, and after the remaining drones 12 reach the target waiting point, the target drone 11 can be controlled to fly towards the home point 22, and then Control the remaining UAVs 12 to continue the flight mission.
- the flight speed of the drone is 4m/s, and the distance between the current position point and the base station is 200 meters, and the round-trip time between the current position point and the base station of the target drone is 100 seconds. It can be understood that the battery life time is determined according to the remaining power of the battery of the target drone and the power consumption per unit time of the target drone, and the power consumption per unit time can be determined according to the hovering speed of the target drone and the load weight. Sure.
- the target drone is controlled to fly to the charging device, so that the charging device can charge the battery in the target drone, that is, the target drone is controlled to fly to charging device, so that the power interface of the charging device is connected with the charging interface of the battery of the drone, so that the charging device can charge the battery of the drone.
- the charging device charges the battery of the drone based on the fast charging mode, wherein the constant voltage charging stage of the fast charging mode uses a preset charging strategy to charge the battery .
- the battery can not be removed, which can prevent damage to the drone or the battery during the process of removing the battery.
- the battery is charged based on the fast charging mode, and the battery can be quickly charged.
- the battery charging generally includes a pre-charging stage, a constant-current charging stage, a constant-voltage charging stage, and a recharging stage.
- the specific method of charging the battery based on the fast charging mode by the charging device is: performing constant current charging on the battery, that is, the battery is currently in the constant current charging stage; acquiring the charging parameters and / or battery parameters, and determine whether the battery enters the constant voltage charging stage according to the charging parameters and/or battery parameters; if the battery enters the constant voltage charging stage, use the preset charging strategy corresponding to the constant voltage charging stage to charge the battery.
- the fast charging mode the battery is charged through the constant current charging stage and the constant voltage charging stage, so that fast charging can be achieved and cycle operations are facilitated.
- the preset charging strategy includes one of the following: stop charging, stop charging after charging for a preset duration, and stop charging when the charging current drops to a preset cut-off current. Stop charging, i.e. no longer charge the battery.
- the charging device automatically disconnects the charging circuit; for example, a stop command is sent to the micro-control unit of the battery to make the battery disconnect the charging switch to stop charging; another example, the charging device automatically disconnects the charging circuit and outputs a prompt message to prompt User battery level is complete.
- the preset time is set according to actual needs, for example, the preset time is 1 minute, 2 minutes or 3 minutes. Stop charging after charging for the preset duration; or stop charging after charging for the preset duration, and output a prompt message to prompt the user that the battery power has been completed.
- the preset charging duration is the constant voltage charging stage. Stop charging when the charging current drops to the preset cut-off current. For example, if the constant current charging current is 5.0A, the preset cut-off current can be set to 4.9A, 4.8A or 4.7A. The specific value is not limited here.
- FIG. 5 is a schematic structural block diagram of a server provided by an embodiment of the present application.
- the server 400 includes a wireless communication device 410, a memory 420, and a processor 430.
- the wireless communication device 410, the memory 420, and the processor 430 are connected by a bus 440, such as an I2C (Inter-integrated Circuit) bus. .
- I2C Inter-integrated Circuit
- the wireless communication device 410 is used for communicating with a plurality of base stations, and each base station is used for communicating with a plurality of UAVs, and is used for controlling the plurality of UAVs.
- the memory 420 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- ROM Read-Only Memory
- the memory 420 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
- the processor 430 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the processor 430 is configured to run the computer program stored in the memory 420, and implement the following steps when executing the computer program:
- the image data sent by the target base station is acquired, and the image data is sent to the terminal device for display, where the image data is collected when the UAV performs the flight mission.
- the processor when the processor acquires, from the plurality of base stations, the target base station to which the drone that performs the flight mission belongs, the processor is configured to:
- the target base station to which the UAV performing the flight mission belongs is determined from the plurality of base stations.
- the processor when the processor acquires, from the plurality of base stations, the target base station to which the drone that performs the flight mission belongs, the processor is configured to:
- a base station corresponding to the base station identification information among the plurality of base stations is determined as the target base station.
- the processor before the processor sends the flight mission and the target flight area to the target base station, the processor is further configured to:
- the processor transmits the flight task and the target flight area to the target base station
- the processor is configured to:
- the processor when the processor acquires the flight route of the drone within the target flight area, the processor is configured to:
- the flight path includes a circumnavigation path and/or a strip path.
- the shooting parameter adjustment instruction is used to instruct the target base station to adjust the shooting parameters of the target drone that performs the flight mission;
- the shooting parameter adjustment instruction is sent to the target base station, so that the target base station adjusts the shooting parameters of the target UAV based on the shooting parameter adjustment instruction.
- the shooting parameters include at least one of exposure parameters, follow focus parameters, zoom parameters, shooting directions, and shooting angles.
- the processor is further configured to:
- alarm prompt information is sent to the alarm processing platform, so that the alarm processing platform can perform a corresponding alarm operation according to the alarm prompt information.
- the processor when the processor implements sending the alarm prompt information to the alarm processing platform, it is configured to implement:
- the alarm processing platform includes a safety monitoring platform or a traffic command platform, and when the processor sends the alarm prompt information to the alarm processing platform, the processor is configured to:
- Whether an abnormal event occurs in the target flight area is determined according to the abnormal event detection result.
- the object to be followed is sent to the target base station, so that the target base station controls the drone that performs the flight mission to follow the object to be followed.
- the processor 540 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the target UAV is controlled to fly according to the flight route, so that the target UAV performs the flight task within the target flight area.
- the processor when the processor acquires the flight route of the target drone within the target flight area, the processor is configured to:
- the flight path includes a circumnavigation path and/or a strip path.
- the processor is further configured to implement the following steps:
- the processor is further configured to implement the following steps:
- the processor determines whether an abnormal event occurs in the target flight area according to the image data
- the processor is configured to:
- the abnormal event detection model is a pre-trained neural network model
- Whether an abnormal event occurs in the target flight area is determined according to the abnormal event detection result.
- the alarm processing platform includes a safety monitoring platform or a traffic command platform, and when the processor sends the alarm prompt information to the alarm processing platform, the processor is configured to:
- the abnormal event is a traffic abnormal event, send the warning prompt information to the traffic command platform, so that the traffic command platform can output the warning prompt information;
- the processor is further configured to implement the following steps:
- the target drones are controlled to fly toward the base station, and the remaining drones are controlled to continue to perform the flight task.
- the current position of the target UAV and the target waiting point are separated by a preset distance and/or height.
- the processor when the processor obtains the round-trip time between the current location point of the target drone and the base station, the processor is configured to:
- the round-trip time is determined according to the distance between the target drone and the base station and the flight speed of the target drone.
- the processor is further configured to implement the following steps:
- the processor is further configured to implement the following steps:
- the target drone After the target drone arrives at the base station, the target drone is controlled to fly to a charging device, so that the charging device charges the battery in the target drone.
- FIG. 7 is a schematic structural block diagram of an unmanned aerial vehicle scheduling system provided by an embodiment of the present application.
- the UAV dispatching system 600 includes a server 610 and a plurality of base stations 620.
- the server 610 is communicatively connected to the plurality of base stations 620, and each base station 620 is communicatively connected to a plurality of UAVs for controlling the plurality of UAVs. man machine.
- the server 610 may be the server 400 shown in FIG. 5
- the base station 620 may be the base station 500 shown in FIG. 6 .
- Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments.
- the steps of the UAV scheduling method are described in detail below.
- the computer-readable storage medium may be an internal storage unit of the server or base station described in any of the foregoing embodiments, such as a hard disk or memory of the server or base station.
- the computer-readable storage medium can also be an external storage device of the server or the base station, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) equipped on the server or the base station , SD) card, flash memory card (Flash Card), etc.
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Abstract
一种无人机调度方法、服务器、基站、***及可读存储介质,该方法包括:获取终端设备发送的无人机租赁请求,并根据无人机租赁请求,确定待执行的飞行任务和执行飞行任务时的目标飞行区域(S101);从多个基站中获取执行飞行任务的无人机所属的目标基站(S102);向目标基站发送飞行任务和目标飞行区域,以供目标基站控制空闲的无人机在目标飞行区域内执行飞行任务(S103);获取目标基站发送的图像数据,并将图像数据发送给终端设备进行显示(S104)。该方法能够降低无人机的使用门槛,提高无人机的使用便利性。
Description
本申请涉及无人机领域,尤其涉及一种无人机调度方法、服务器、基站、***及可读存储介质。
随着我国无人机制造业的高速发展,无人机在航测、电力巡线、天然气(石油)管道巡检、森林防火、抢险救灾、智慧城市等领域快速成长,无人机的应用越来越广泛,使用无人机的人也越来越多。目前,人们主要是先购买无人机,之后再自己携带无人机到现场进行拍摄,但购买一台无人机所需要的费用较高,且购买之后还需要维护,维护的费用也较高,导致无人机的使用门槛较高,用户体验也不好。
发明内容
基于此,本申请实施例提供了一种无人机调度方法、服务器、基站、***及可读存储介质,旨在降低无人机的使用门槛,提高无人机的使用便利性。
第一方面,本申请实施例提供了一种无人机调度方法,应用于服务器,所述服务器用于与多个基站通信连接,每个所述基站用于与多架无人机通信连接,用于控制所述多架无人机,所述方法包括:
获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域;
从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站;
向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
本申请实施例提供的无人机调度方法,基于终端设备的无人机租赁请求确定待调度无人机的飞行任务和目标飞行区域,并由多个基站中的待调度无人机所属的目标基站控制空闲的无人机在目标飞行区域执行该飞行任务,然后由服务器获取目标基站发送的无人机执行飞行任务时所采集到的图像数据,并将图像数据发送给终端设备进行显示,从而实现无人机的租赁与调度,不需要用户 购买无人机也能够使用无人机,极大的降低了无人机的使用门槛和提高了无人机的使用便利性。
第二方面,本申请实施例还提供了一种无人机调度方法,应用于基站,所述基站与多架无人机通信连接,用于控制所述多架无人机,所述方法包括:
获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的;
从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行;
在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在执行所述飞行任务时所采集到的;
向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
本申请实施例提供的无人机调度方法,通过获取服务器发送的基于无人机租赁请求确定的飞行任务和目标飞行区域,并控制空闲的目标无人机在目标飞行区域内执行飞行任务,然后获取目标无人机发送的在执行飞行任务时所采集到的图像数据,并向服务器发送该图像数据,以供服务器将该图像数据发送至终端设备进行显示,实现了无人机的租赁与控制,不需要用户购买无人机也能够使用无人机,极大的降低了无人机的使用门槛和提高了无人机的使用便利性。
第三方面,本申请实施例还提供了一种服务器,所述服务器用于与多个基站通信连接,每个所述基站用于与多架无人机通信连接,用于控制所述多架无人机,所述服务器包括无线通信装置、存储器和处理器;
所述无线通信装置用于与多个基站通信;
所述存储器用于存储计算机程序;
所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:
获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域;
从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站;
向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
第四方面,本申请实施例还提供了一种基站,所述基站包括第一无线通信装置、第二无线通信装置、存储器和处理器;
所述第一无线通信装置用于与服务器通信连接,所述第二无线通信装置用于与多架无人机通信连接,所述基站用于控制所述多架无人机;
所述存储器用于存储计算机程序;
所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:
获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的;
从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行;
在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在执行所述飞行任务时所采集到的;
向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
第五方面,本申请实施例还提供了一种无人机调度***,所述无人机调度***包括如上所述的服务器和多个基站,或者,所述无人机调度***包括服务器和多个如上所述的基站,或者,所述无人机调度***包括如上所述的服务器和多个如上所述的基站。
第六方面,本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如上所述的无人机调度方法。
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。
为了更清楚地说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实 施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是实施本申请实施例提供的无人机调度方法的一场景示意图;
图2是本申请实施例提供的一种无人机调度方法的步骤示意流程图;
图3是本申请实施例提供的另一种无人机调度方法的步骤示意流程图;
图4是本申请实施例中替换目标无人机的一场景示意图;
图5是本申请实施例提供的一种服务器的结构示意性框图;
图6是本申请实施例提供的一种基站的结构示意性框图;
图7是本申请实施例提供的一种无人机调度***的结构示意性框图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
附图中所示的流程图仅是示例说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解、组合或部分合并,因此实际执行的顺序有可能根据实际情况改变。
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
随着我国无人机制造业的高速发展,无人机在航测、电力巡线、天然气(石油)管道巡检、森林防火、抢险救灾、智慧城市等领域快速成长,无人机的应用越来越广泛,使用无人机的人也越来越多。目前,人们主要是先购买无人机,之后再自己携带无人机到现场进行拍摄,但购买一台无人机所需要的费用较高,且购买之后还需要维护,维护的费用也较高,导致无人机的使用门槛较高,用户体验也不好。
为解决上述问题,本申请实施例提供了一种无人机调度方法、服务器、基站、***及可读存储介质,基于终端设备的无人机租赁请求确定待调度无人机的飞行任务和目标飞行区域,并由多个基站中的待调度无人机所属的目标基站控制空闲的无人机在目标飞行区域执行该飞行任务,然后由服务器获取目标基站发送的无人机执行飞行任务时所采集到的图像数据,并将图像数据发送给终端设备进行显示,从而实现无人机的租赁与调度,不需要用户购买无人机也能 够使用无人机,极大的降低了无人机的使用门槛和提高了无人机的使用便利性。
请参阅图1,图1是实施本申请实施例提供的无人机调度方法的一场景示意图。如图1所示,该场景包括服务器100、与服务器100通信连接的多个基站200以及与基站200通信连接的多架无人机300,基站200用于控制多架无人机300。其中,服务器100包括无线通信装置,基站200包括第一无线通信装置和第二无线通信装置,无人机300包括第三无线通信装置,通过服务器100中的无线通信装置与基站200中的第一无线通信装置可以实现服务器100与基站200之间的通信连接,通过基站200中的第二无线通信装置与无人机300中的第三无线通信装置可以实现基站200与无人机300之间的通信连接。
在一实施例中,通过无人机300中的第四无线通信装置与服务器100中的无线通信装置也可以实现无人机300与服务器100之间的通信连接。第一无线通信装置和第四无线通信装置可以为公网无线通信装置,公网无线通信装置包括但不限于4G通信装置、5G通信装置和6G通信装置,第二无线通信装置与第三无线通信装置可以为私网无线通信装置,私网无线通信装置包括基于软件无线电(Software Defined Radio,SDR)的Lightbridge和Ocusync等实现的无线通信装置。
示例性的,基站200与无人机300之间能够建立第一无线通信链路和第二无线通信链路,第一无线通信链路可以为私有无线通信链路,第二无线通信链路可以为公网无线通信链路,第一无线通信链路是通过基站200中的第二无线通信装置与无人机300中的第三无线通信装置建立的,第二无线通信链路是通过基站200中的第一无线通信装置与无人机300中的第四无线通信装置建立的。
在一实施例中,无人机300包括机体310、设于机体310上的动力***320、拍摄装置330和控制***(图1中未示出),动力***320用于为无人机300提供移动动力,拍摄装置330用于采集图像数据。其中,无人机300可以包括旋翼型无人机,例如单旋翼无人机、双旋翼无人机、四旋翼无人机、六旋翼无人机、八旋翼无人机,也可以是固定翼无人机,还可以是旋翼型与固定翼无人机的组合,在此不做限定。
其中,动力***320可以包括一个或多个螺旋桨321、与一个或多个螺旋桨相对应的一个或多个电机322、一个或多个电子调速器(简称为电调)。其中,电机322连接在电子调速器与螺旋桨321之间,电机322和螺旋桨321设置在无人机300的机体310上;电子调速器用于接收控制***产生的驱动信号,并根据驱动信号提供驱动电流给电机322,以控制电机322的转速。电机322 用于驱动螺旋桨321旋转,从而为无人机300的移动提供动力,该动力使得无人机300能够实现一个或多个自由度的运动。在某些实施例中,无人机300可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴、偏航轴和俯仰轴。应理解,电机322可以是直流电机,也可以交流电机。另外,电机322可以是无刷电机,也可以是有刷电机。
其中,控制***可以包括处理器和传感***。传感***用于测量无人机300的姿态信息,即无人机300在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如,全球导航卫星***可以是全球定位***(Global Positioning System,GPS)。处理器用于控制无人机300的移动,例如,可以根据传感***测量的姿态信息控制无人机300的移动。应理解,处理器可以按照预先编好的程序指令对无人机300进行控制。
在一实施例中,终端设备能够与服务器100通信连接,服务器100获取终端设备发送的无人机租赁请求,并根据无人机租赁请求,确定待执行的飞行任务和执行飞行任务时的目标飞行区域;从多个基站200中获取执行飞行任务的无人机所属的目标基站;向目标基站发送飞行任务和所述目标飞行区域,以供目标基站控制空闲的无人机300在目标飞行区域内执行飞行任务;获取目标基站发送的无人机执行飞行任务时所采集到的图像数据,并将该图像数据发送给终端设备进行显示。
在一实施例中,基站200获取服务器100发送的飞行任务和目标飞行区域,飞行任务和目标飞行区域是服务器100根据终端设备发送的无人机租赁请求确定的;从多架无人机300中确定空闲的目标无人机,并控制目标无人机向目标飞行区域飞行;在无人机抵达目标飞行区域后,控制目标无人机在目标飞行区域内执行飞行任务;获取目标无人机发送的图像数据,图像数据是目标无人机在执行飞行任务时所采集到的;向服务器100发送图像数据,以供服务器100将图像数据发送至终端设备进行显示。
其中,终端设备可以包括但不限于:智能电话/手机、平板电脑、个人数字助理(PDA)、台式计算机、媒体内容播放器、视频游戏站/***、虚拟现实***、增强现实***、可穿戴式装置(例如,手表、眼镜、手套、头饰(例如,帽子、头盔、虚拟现实头戴耳机、增强现实头戴耳机、头装式装置(HMD)、 头带)、挂件、臂章、腿环、鞋子、马甲)、手势识别装置、麦克风、能够提供或渲染图像数据的任意电子装置、或者任何其他类型的装置。该终端设备可以是手持终端,终端设备可以是便携式的。该终端设备可以由人类用户携带。在一些情况下,终端设备可以远离人类用户,并且用户可以使用无线和/或有线通信来控制终端设备。
以下,将结合图1中的场景对本申请的实施例提供的无人机调度方法进行详细介绍。需知,图1中的场景仅用于解释本申请实施例提供的无人机调度方法,但并不构成对本申请实施例提供的无人机调度方法应用场景的限定。
请参阅图2,图2是本申请实施例提供的一种无人机调度方法的步骤示意流程图。
如图2所示,该无人机调度方法可以包括步骤S101至步骤S104。
步骤S101、获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域。
终端设备显示无人机租赁页面,该无人机租赁页面包括城市地图、作业任务列表和租赁确认图标;响应于用户对该作业任务列表中的作业任务的选择操作,确定用户选择的作业任务;响应于用户对该城市地图的区域选择操作,在该城市地图上标记用户选择的目标飞行区域;响应于用户对该租赁确认图标的触发操作,根据该作业任务和该目标飞行区域生成无人机租赁请求,并向服务器发送无人机租赁请求。
在一实施例中,终端设备获取地理位置信息,该地理位置信息是由终端设备中的全球定位***(Global Positioning System,GPS)定位装置采集到的;向服务器发送该地理位置信息,以供服务器向终端设备发送该地理位置信息对应的城市地图;获取服务器发送的该地理位置信息对应的城市地图,并显示包含有该城市地图的无人机租赁页面。在另一实施例中,无人机租赁页面还包括城市搜索框,终端设备获取用户在该城市搜索框中输入的城市名称,并向服务器发送该城市名称,以供服务器向终端设备发送该城市名称对应的城市地图;获取服务器发送的该城市名称对应的城市地图,并将该无人机租赁页面当前显示的城市地图更新为该城市名称对应的城市地图。
在一实施例中,服务器在获取到终端设备发送的无人机租赁请求后,对该无人机租赁请求进行解析,得到待执行的飞行任务和执行该飞行任务时的目标飞行区域。其中,该飞行任务包括安全监控任务、景区航拍任务、道路监控任务、喷洒作业,安全监控任务是指无人机在目标飞行区域内巡逻飞行,并将采 集到的图像数据上传至服务器,或者将采集到的图像数据上传至基站,再由基站转发给服务器。景区航拍任务是指无人机在指定的景区飞行,拍摄风景或人物,并将采集到的图像数据上传至服务器,或者将采集到的图像数据上传至基站,再由基站转发给服务器。道路监控任务是指无人机在指定的道路上空飞行,并将采集到的图像数据上传至服务器,或者将采集到的图像数据上传至基站,再由基站转发给服务器。喷洒作业是指无人机在指定的地块控制喷洒装置进行喷洒,并将采集到的图像数据上传至服务器,或者将采集到的图像数据上传至基站,再由基站转发给服务器。
步骤S102、从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站。
在一实施例中,确定目标飞行区域与每个基站之间的距离;根据目标飞行区域与每个基站之间的距离,从多个基站中确定执行飞行任务的无人机所属的目标基站,将多个基站中的该距离最短对应的基站确定为执行飞行任务的无人机所属的目标基站。其中,确定目标飞行区域与基站之间的距离的方式可以为:获取目标飞行区域的第一位置信息和基站的第二位置信息,并根据第一位置信息和第二位置信息确定目标飞行区域与该基站之间的距离。通过将距离目标飞行区域最近的基站确定为目标基站,便于后续目标基站快速的调度无人机来执行飞行任务。
在一实施例中,终端设备显示无人机租赁页面,该无人机租赁页面包括城市地图、作业任务列表、租赁确认图标,该城市地图上显示多个基站的标记图标;响应于用户对该作业任务列表中的作业任务的选择操作,确定用户选择的作业任务;响应于用户对该城市地图的区域选择操作,在该城市地图上标记用户选择的目标飞行区域;响应于用户对任一标记图标的选择操作,获取用户选择的标记图标对应的基站标识信息;响应于用户对该租赁确认图标的触发操作,根据该作业任务、该目标飞行区域和基站标识信息生成无人机租赁请求,并向服务器发送无人机租赁请求;服务器获取终端设备发送的无人机租赁请求,从无人机租赁请求中获取基站标识信息、飞行任务和目标飞行区域;将多个基站中的与该基站标识信息对应的基站确定为目标基站。
步骤S103、向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务。
服务器向目标基站发送飞行任务和目标飞行区域,目标基站获取服务器发送的飞行任务和目标飞行区域,并从与目标基站通信连接的多架无人机中确定 空闲的无人机;控制确定的无人机向目标飞行区域飞行,并在该无人机抵达该目标飞行区域后,控制无人机在该目标飞行区域执行该飞行任务。
在一实施例中,服务器获取无人机在目标飞行区域内的飞行航线;向目标基站发送飞行任务、目标飞行区域和飞行航线;目标基站控制空闲的无人机向该目标飞行区域飞行,并在无人机抵达目标飞行区域后,按照该飞行航线控制无人机飞行,以使无人机在目标飞行区域内执行飞行任务。其中,该飞行航线包括环绕航线和/或带状航线。
在一实施例中,获取无人机在目标飞行区域内的飞行航线的方式可以为:服务器在目标飞行区域内规划无人机的飞行航线。或者,从无人机租赁请求中获取无人机在目标飞行区域内的飞行航线。其中,终端设备显示的无人机租赁页面还包括航线规划图标,在确定目标飞行区域后,响应于用户对该航线规划图标的触发操作,规划无人机在该目标飞行区域内的飞行航线,在确定飞行任务、目标飞行任务和飞行航线后,响应于用户对租赁确认图标的触发操作,根据飞行任务、目标飞行任务和飞行航线,生成无人机租赁请求。
步骤S104、获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
无人机在执行飞行任务的过程中,将采集到的图像数据发送给与无人机通信连接的目标基站,目标基站获取无人机发送的图像数据,并将该图像数据转发给服务器,服务器获取目标基站转发的图像数据,并将该图像数据发送给终端设备进行显示。在另一实施例中,无人机在执行飞行任务的过程中,将采集到的图像数据发送给服务器,服务器获取无人机发送的图像数据,并将该图像数据发送给终端设备进行显示。
在一实施例中,服务器获取终端设备发送的拍摄参数调整指令,拍摄参数调整指令用于指示目标基站调整执行飞行任务的目标无人机的拍摄参数;向目标基站发送拍摄参数调整指令,以供目标基站基于拍摄参数调整指令,调整目标无人机的拍摄参数。其中,该拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。通过调整拍摄参数,便于无人机更好的拍摄得到符合用户要求的图片或视频。
在一实施例中,在获取到目标基站发送的图像数据后,服务器根据该图像数据确定目标飞行区域内是否有异常事件发生;若目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供告警处理平台根据该告警提 示信息执行对应的告警操作。其中,异常事件包括抢劫事件、打砸事件、交通事故、溺水事件、坠楼事件等。通过在确定目标飞行区域内有异常事件发生时,向告警处理平台发送告警提示信息,便于告警处理平台执行对应的告警操作,方便巡逻人员处理异常事件。
在一实施例中,向告警处理平台发送告警提示信息的方式可以为:获取发生该异常事件的时刻信息和位置信息;根据该时刻信息和该位置信息,生成对应的告警提示信息;向告警处理平台发送该告警提示信息。其中,告警处理平台包括安全监控平台或交通指挥平台,若异常事件为交通异常事件,则向交通指挥平台发送告警提示信息,以供交通指挥平台输出该告警提示信息,若异常事件为安全异常事件,则向安全监控平台发送告警提示信息,以供安全监控平台输出告警提示信息。通过输出包含发生该异常事件的时刻信息和位置信息的告警提示信息,方便巡逻人员及时快速的处理异常事件。
在一实施例中,交通指挥平台在获取到告警提示信息后,从告警提示信息中获取异常事件的发生位置,并获取每个交警执法点的位置信息;根据每个交警执法点的位置信息和异常事件的发生位置,确定每个交警执法点与异常事件的发生位置之间的距离,并向该距离最近对应的交警执法点发送该告警提示信息,以告知交警执法点去处理异常事件。
在一实施例中,安全监控平台在获取到告警提示信息后,从告警提示信息中获取异常事件的发生位置,并获取每个巡逻人员所持有的终端设备发送的当前位置信息;根据每个位置信息和异常事件的发生位置,确定每个巡逻人员与异常事件的发生位置之间的距离,并向该距离最近的巡逻人员所持有的终端设备发送告警提示信息,以告知距离最近的巡逻人员去处理异常事件。
在一实施例中,将该图像数据输入预设的异常事件检测模型,得到异常事件检测结果,该异常事件检测模型为预先训练好的神经网络模型;根据该异常事件检测结果确定目标飞行区域内是否有异常事件发生。其中,异常事件检测模型包括但不限于抢劫事件检测模型、打砸事件检测模型、交通事故检测模型、溺水事件检测模型、坠楼事件检测模型。通过异常事件检测模型可以快速准确的确定目标飞行区域内是否有异常事件发生。
在一实施例中,异常事件检测模型的具体训练方式可以为:获取样本数据集,该样本数据集包括多个正样本数据和多个负样本数据,该正样本数据包括不存在异常事件的第一图像和标注的第一类别标签,该负样本数据包括存在异常事件的第二图像和标注的第二类别标签;根据样本数据集对神经网络模型进 行迭代训练,直至该神经网络收敛或者迭代次数达到预设次数,从而得到异常事件检测模型。
在一实施例中,获取终端设备发送的待跟拍对象,待跟拍对象是终端设备根据用户对图像数据中的目标对象的框选操作确定的;向目标基站发送待跟拍对象,以供目标基站控制执行飞行任务的无人机对待跟拍对象进行跟拍。待跟拍对象包括宠物、人和汽车中的任一项。在另一实施例中,目标基站获取终端设备发送的待跟拍对象,并控制无人机对待跟拍对象进行跟拍。
本申请实施例提供的无人机调度方法可以应用于不同的场景,例如,在安全监控场景下,终端设备获取用户选定的安全监控任务和监控区域,并从多个基站中获取执行安全监控任务的无人机所属的目标基站,然后向目标基站发送安全监控任务和监控区域,目标基站控制空闲的无人机在该监控区域执行该安全监控任务,无人机在执行安全监控任务的过程中,将采集到的图像数据回传给目标基站,目标基站再上传给服务器进行存储或转发给终端设备进行显示,服务器可以基于接收到的图像数据来确定该监控区域内是否有异常事件(如溺水事件),若有异常事件,则通知巡逻人员。
又例如,在景区跟拍场景下,终端设备获取用户选定的景区跟拍任务和目标景区,并从多个基站中获取执行景区跟拍任务的无人机所属的目标基站,然后向目标基站发送景区跟拍任务和目标景区,目标基站控制空闲的无人机向目标景区飞行,并在抵达目标景区后,获取无人机发送的图像数据,并向终端设备发送该图像数据,然后获取终端设备发送的用户从图像数据中框选的待跟拍对象,并控制无人机对该待跟拍对象进行跟拍,无人机将跟拍得到的图像数据上传给目标基站,再由目标基站上传给服务器,或者无人机直接将跟拍得到的图像数据上传给服务器。
又例如,在道路监控场景下,终端设备获取用户选定的道路监控任务和目标监控路段,并从多个基站中获取执行景区跟拍任务的无人机所属的目标基站,然后向目标基站发送道路监控任务和目标监控路段,目标基站控制空闲的无人机向目标监控路段飞行,并在无人机抵达目标监控路段后,控制无人机在目标监控路段内执行道路监控任务,无人机在执行道路监控任务的过程中,将采集到的图像数据回传给目标基站,目标基站再上传给服务器进行存储或转发给终端设备进行显示,服务器可以基于接收到的图像数据来确定该目标监控路段内是否出现交通事故,若出现交通事故,则记录交通事故的相关信息,并告知交警人员来处理。
又例如,在异地景区航拍场景下,用户想看全国或全球任意景区时,可以通过终端设备选择目标景区和景区航拍任务,即终端设备获取用户选定的景区航拍任务和目标景区,并从多个基站中获取执行景区航拍任务的无人机所属的目标基站,然后向目标基站发送景区航拍任务和目标景区,目标基站控制空闲的无人机向目标景区飞行,并在抵达目标景区后,控制无人机对目标景区进行航拍,而无人机在对目标景区进行航拍的过程中,将航拍得到的图像数据回传给目标基站,目标基站再将该图像数据转发给服务器,最后服务器将该图像数据发送给终端设备进行显示,由用户观看,或者无人机直接将跟拍得到的图像数据上传给服务器,服务器将该图像数据发送给终端设备进行显示。
又例如,在车辆跟拍场景下,终端设备获取用户选定的车辆跟拍任务和目标跟拍区域,并从多个基站中获取执行车辆跟拍任务的无人机所属的目标基站,然后向目标基站发送车辆跟拍任务和目标跟拍区域,目标基站控制空闲的无人机向目标跟拍区域飞行,并在无人机抵达目标跟拍区域后,获取无人机发送的图像数据,并向终端设备发送该图像数据,然后获取终端设备发送的用户从图像数据中框选的目标车辆,并控制无人机对该目标车辆进行跟拍,无人机将跟拍得到的图像数据上传给目标基站,再由目标基站上传给服务器,或者无人机直接将跟拍得到的图像数据上传给服务器。
上述实施例提供的无人机调度方法,基于终端设备的无人机租赁请求确定待调度无人机的飞行任务和目标飞行区域,并由多个基站中的待调度无人机所属的目标基站控制空闲的无人机在目标飞行区域执行该飞行任务,然后由服务器获取目标基站发送的无人机执行飞行任务时所采集到的图像数据,并将图像数据发送给终端设备进行显示,从而实现无人机的租赁与调度,不需要用户购买无人机也能够使用无人机,极大的降低了无人机的使用门槛和提高了无人机的使用便利性。
请参阅图3,图3是本申请实施例提供的另一种无人机调度方法的步骤示意流程图。该无人机调度方法应用于基站,该基站与多架无人机通信连接,该基站用于控制多架无人机。
如图3所示,该无人机调度方法可以包括步骤S201至S205。
步骤S201、获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的。
终端设备显示无人机租赁页面,该无人机租赁页面包括城市地图、作业任务列表和租赁确认图标;响应于用户对该作业任务列表中的作业任务的选择操 作,确定用户选择的作业任务;响应于用户对该城市地图的区域选择操作,在该城市地图上标记用户选择的目标飞行区域;响应于用户对该租赁确认图标的触发操作,根据该作业任务和该目标飞行区域生成无人机租赁请求,并向服务器发送无人机租赁请求;服务器获取终端设备发送的无人机租赁请求,并根据该无人机租赁请求确定飞行任务和目标飞行区域,然后向距离目标飞行区域最近的基站发送飞行任务和目标飞行区域,或者根据该无人机租赁请求确定飞行任务、目标飞行区域和基站,并向确定的基站发送飞行任务和目标飞行区域。
步骤S202、从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行。
示例性的,获取目标飞行区域的第一位置信息和目标无人机的第二位置信息;根据第一位置信息和第二位置信息,规划目标无人机飞往目标飞行区域的飞行航线;控制目标无人机按照该飞行航线向着目标飞行区域飞行。
步骤S203、在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务。
无人机在抵达目标飞行区域后,向基站发送响应信息,告知基站无人机已抵达目标飞行区域,此时基站控制目标无人机在目标飞行区域内执行飞行任务。在一实施例中,获取目标无人机在目标飞行区域内的飞行航线;控制目标无人机按照飞行航线飞行,以使目标无人机在目标飞行区域内执行飞行任务。其中,该飞行航线包括环绕航线和/或带状航线。
在一实施例中,获取无人机在目标飞行区域内的飞行航线的方式可以为:在目标飞行区域内规划无人机的飞行航线。或者,获取服务器发送的飞行航线,该飞行航线是服务器从无人机租赁请求中获取到的。其中,终端设备显示的无人机租赁页面还包括航线规划图标,在确定目标飞行区域后,响应于用户对该航线规划图标的触发操作,规划无人机在该目标飞行区域内的飞行航线,在确定飞行任务、目标飞行任务和飞行航线后,响应于用户对租赁确认图标的触发操作,根据飞行任务、目标飞行任务和飞行航线,生成无人机租赁请求,并向服务器发送无人机租赁请求,服务器对终端设备发送的无人机租赁请求进行解析,得到飞行任务、目标飞行区域和飞行航线。
步骤S204、获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在执行所述飞行任务时所采集到的。
步骤S205、向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
目标无人机在执行飞行任务的过程中,将采集到的图像数据发送给与目标无人机通信连接的基站,基站获取目标无人机发送的图像数据,并将该图像数据转发给服务器,服务器获取目标基站转发的图像数据,并将该图像数据发送给终端设备进行显示。在另一实施例中,无人机在执行飞行任务的过程中,将采集到的图像数据发送给服务器,服务器获取无人机发送的图像数据,并将该图像数据发送给终端设备进行显示。
在一实施例中,基站获取服务器发送的拍摄参数调整指令,该拍摄参数调整指令是由终端设备触发的;根据拍摄参数调整指令,调整目标无人机上搭载的拍摄装置的拍摄参数。其中,该拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。通过调整拍摄参数,便于无人机更好的拍摄得到符合用户要求的图片或视频。
在一实施例中,基站获取服务器转发的终端设备发送的待跟拍对象,待跟拍对象是终端设备根据用户对图像数据中的目标对象的框选操作确定的;控制目标无人机对待跟拍对象进行跟随拍摄。其中,待跟拍对象包括宠物、人和汽车中的任一项。在另一实施例中,基站获取终端设备发送的待跟拍对象,并控制目标无人机对待跟拍对象进行跟拍。
在一实施例中,在获取到目标无人机发送的图像数据后,基站根据该图像数据确定目标飞行区域内是否有异常事件发生;若目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供告警处理平台根据该告警提示信息执行对应的告警操作。其中,异常事件包括抢劫事件、打砸事件、交通事故、溺水事件、坠楼事件等。通过在确定目标飞行区域内有异常事件发生时,向告警处理平台发送告警提示信息,便于告警处理平台执行对应的告警操作,方便巡逻人员处理异常事件。
在一实施例中,向告警处理平台发送告警提示信息的方式可以为:基站获取发生该异常事件的时刻信息和位置信息;根据该时刻信息和该位置信息,生成对应的告警提示信息;向告警处理平台发送该告警提示信息。其中,告警处理平台包括安全监控平台或交通指挥平台,若异常事件为交通异常事件,则向交通指挥平台发送告警提示信息,以供交通指挥平台输出该告警提示信息,若异常事件为安全异常事件,则向安全监控平台发送告警提示信息,以供安全监控平台输出告警提示信息。通过输出包含发生该异常事件的时刻信息和位置信息的告警提示信息,方便巡逻人员及时快速的处理异常事件。
在一实施例中,交通指挥平台在获取到告警提示信息后,从告警提示信息 中获取异常事件的发生位置,并获取每个交警执法点的位置信息;根据每个交警执法点的位置信息和异常事件的发生位置,确定每个交警执法点与异常事件的发生位置之间的距离,并向该距离最近对应的交警执法点发送该告警提示信息,以告知交警执法点去处理异常事件。
在一实施例中,安全监控平台在获取到告警提示信息后,从告警提示信息中获取异常事件的发生位置,并获取每个巡逻人员所持有的终端设备发送的当前位置信息;根据每个位置信息和异常事件的发生位置,确定每个巡逻人员与异常事件的发生位置之间的距离,并向该距离最近的巡逻人员所持有的终端设备发送告警提示信息,以告知距离最近的巡逻人员去处理异常事件。
在一实施例中,基站将该图像数据输入预设的异常事件检测模型,得到异常事件检测结果,该异常事件检测模型为预先训练好的神经网络模型;根据该异常事件检测结果确定目标飞行区域内是否有异常事件发生。其中,异常事件检测模型包括但不限于抢劫事件检测模型、打砸事件检测模型、交通事故检测模型、溺水事件检测模型、坠楼事件检测模型。通过异常事件检测模型可以快速准确的确定目标飞行区域内是否有异常事件发生。
在一实施例中,在控制目标无人机执行飞行任务的过程中,获取目标无人机在当前位置点与基站之间的往返时间和目标无人机的电池续航时间;若电池续航时间与往返时间的差值小于或等于预设时间阈值,则控制目标无人机悬停;根据目标无人机的当前位置点的位置坐标,确定目标等候点,并控制多架无人机中的其余无人机向目标等候点飞行;在确定其余无人机抵达目标等候点后,控制目标无人机向基站飞行,并控制其余无人机继续执行飞行任务。其中,预设时间阈值可基于实际情况进行设置,本申请实施例对此不做具体限定。通过在目标无人机的电量不足时,通过轮换无人机来实现不间断的执行飞行任务,极大的提高了用户体验。
在一实施例中,目标无人机的当前位置点与目标等候点间隔预设距离和/或高度。其中,预设距离和预设高度可以根据实际情况进行设置,例如,预设距离为2米,预设高度为2米。由于目标无人机的当前位置点与目标等候点间隔预设距离和/或高度,因此,控制其余无人机向目标等候点飞行时,可以防止目标无人机与其余无人机发生碰撞,保障目标无人机与其余无人机的飞行安全。
示例性的,如图4所示,目标无人机11在当前位置点21执行飞行任务,基站位于返航点22,在目标无人机11的电池续航时间与目标无人机11在当前位置点21与返航点22之间的往返时间的差值小于或等于预设时间阈值时,目 标无人机11悬停在当前位置点21处,确定的目标等候点23与当前位置点21间隔2米高度,此时可以控制其余无人机12沿着飞行航线24向着目标等候点23飞行,并在其余无人机12抵达目标等候点后,控制目标无人机11向着返航点22飞行,然后再控制其余无人机12继续执行飞行任务。
在一实施例中,获取目标无人机的当前位置点的第一位置坐标和基站的第二位置坐标;根据第一位置坐标和第二位置坐标,确定目标无人机与基站之间的距离;根据目标无人机与基站之间的距离和目标无人机的飞行速度,确定往返时间。示例性的,目标无人机的电池的剩余电量为3000mAh,目标无人机的单位时间的耗电量为每分钟200毫安,因此目标无人机的电池续航时间为15分钟,目标无人机的飞行速度为4m/s,当前位置点与基站之间的距离为200米,则目标无人机在当前位置点与基站之间的往返时间为100秒。可以理解的是,电池续航时间根据目标无人机的电池的剩余电量以及目标无人机的单位时间的耗电量确定,单位时间的耗电量可以根据目标无人机的盘旋速度以及负载重量确定。
在一实施例中,若电池续航时间与该往返时间的差值小于或等于预设时间阈值,则基站向服务器发送无人机替换提示信息,以使服务器将无人机替换提示信息发送至终端设备进行显示,便于告知用户需要替换无人机;若电池续航时间与该往返时间的差值大于预设时间阈值,则控制目标无人机继续执行飞行任务。在另一实施例中,在目标无人机抵达基站后,控制目标无人机飞行至充电设备,以使充电设备给目标无人机中的电池进行充电,即控制目标无人机飞行至充电设备,以使充电设备的电源接口与无人机的电池的充电接口连接,使得充电设备能够给无人机的电池进行充电。
在一实施例中,在将无人机移动至充电设备之后,充电设备基于快充模式对无人机的电池进行充电,其中,快充模式的恒压充电阶段采用预设充电策略为电池充电。通过将无人机移动至充电设备,可以不取出电池,可以防止在取出电池的过程中对无人机或者电池的损坏,同时基于快充模式为电池充电,可以实现电池的快速充电。其中,电池充电一般包括预充电阶段、恒流充电阶段、恒压充电阶段以及再充电阶段。
在一实施例中,充电设备基于快充模式对电池进行充电的具体方式为:对电池进行恒流充电,即电池当前是处于恒流充电阶段;获取对电池进行恒流充电时的充电参数和/或电池参数,并根据充电参数和/或电池参数确定电池是否进入恒压充电阶段;若电池进入恒压充电阶段,采用恒压充电阶段对应的预设 充电策略给电池充电。在快充模式时,通过恒流充电阶段和恒压充电阶段给电池进行充电,从而可以实现快速充电,便于循环作业。
其中,预设充电策略包括如下一种:停止充电、充电预设时长后停止充电、在充电电流降至预设截止电流时停止充电。停止充电,即不再对电池进行充电。比如,充电设备自动断开充电电路;比如,发送停止指令至电池的微控制单元,以使电池断开充电开关停止充电;再比如,充电设备自动断开充电电路,并输出提示信息,以提示用户电池电量已完成。
充电预设时长后停止充电,预设时长根据实际需求进行设定,比如预设时长为1分钟、2分钟或3分钟。在充电该预设时长后停止充电;或者,在充电该预设时长后停止充电,并输出提示信息,以提示用户电池电量已完成。该充电预设时长为恒压充电阶段。在充电电流降至预设截止电流时停止充电,比如恒流充电电流为5.0A,预设截止电流可以设置为4.9A、4.8A或4.7A,具体值在此不做限定。当电池的充电电流降至预设截止电流时,比如降至4.9A时,停止充电;或者,当电池的充电电流降至预设截止电流时停止充电,并输出提示信息,以提示用户电池电量已完成。
上述实施例提供的无人机调度方法,通过获取服务器发送的基于无人机租赁请求确定的飞行任务和目标飞行区域,并控制空闲的目标无人机在目标飞行区域内执行飞行任务,然后获取目标无人机发送的在执行飞行任务时所采集到的图像数据,并向服务器发送该图像数据,以供服务器将该图像数据发送至终端设备进行显示,实现了无人机的租赁与控制,不需要用户购买无人机也能够使用无人机,极大的降低了无人机的使用门槛和提高了无人机的使用便利性。
请参阅图5,图5是本申请实施例提供的一种服务器的结构示意性框图。
如图5所示,服务器400包括无线通信装置410、存储器420和处理器430,无线通信装置410、存储器420和处理器430通过总线440连接,该总线440比如为I2C(Inter-integrated Circuit)总线。
具体地,无线通信装置410用于与多个基站通信,每个基站用于与多架无人机通信连接,用于控制多架无人机。
具体地,存储器420可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
具体地,处理器430可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
其中,所述处理器430用于运行存储在存储器420中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域;
从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站;
向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
在一实施例中,所述处理器在实现从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站时,用于实现:
确定所述目标飞行区域与每个所述基站之间的距离;
根据所述目标飞行区域与每个所述基站之间的距离,从所述多个基站中确定执行所述飞行任务的无人机所属的目标基站。
在一实施例中,所述处理器在实现从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站时,用于实现:
从所述无人机租赁请求中获取基站标识信息;
将所述多个基站中的与所述基站标识信息对应的基站确定为所述目标基站。
在一实施例中,所述处理器在实现向所述目标基站发送所述飞行任务和所述目标飞行区域之前,还用于实现:
获取无人机在所述目标飞行区域内的飞行航线;
所述处理器在实现向所述目标基站发送所述飞行任务和所述目标飞行区域时,用于实现:
向所述目标基站发送所述飞行任务、所述目标飞行区域和所述飞行航线,以使所述目标基站控制空闲的无人机按照所述飞行航线飞行,以使所述无人机在所述目标飞行区域内执行所述飞行任务。
在一实施例中,所述处理器在实现获取无人机在所述目标飞行区域内的飞行航线时,用于实现:
在所述目标飞行区域内规划无人机的飞行航线。
在一实施例中,所述处理器在实现获取无人机在所述目标飞行区域内的飞行航线时,用于实现:
从所述无人机租赁请求中获取无人机在所述目标飞行区域内的飞行航线。
在一实施例中,所述飞行航线包括环绕航线和/或带状航线。
在一实施例中,所述处理器还用于实现以下步骤:
获取所述终端设备发送的拍摄参数调整指令,所述拍摄参数调整指令用于指示所述目标基站调整执行所述飞行任务的目标无人机的拍摄参数;
向所述目标基站发送所述拍摄参数调整指令,以供所述目标基站基于拍摄参数调整指令,调整所述目标无人机的拍摄参数。
在一实施例中,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
在一实施例中,所述处理器在实现获取所述目标基站发送的图像数据之后,还用于实现:
根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;
若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
在一实施例中,所述处理器在实现向告警处理平台发送告警提示信息时,用于实现:
获取发生所述异常事件的时刻信息和位置信息;
根据所述时刻信息和位置信息,生成对应的告警提示信息;
向告警处理平台发送所述告警提示信息。
在一实施例中,所述告警处理平台包括安全监控平台或交通指挥平台,所述处理器在实现向告警处理平台发送所述告警提示信息时,用于实现:
若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;
若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
在一实施例中,所述处理器在实现根据所述图像数据确定所述目标飞行区域内是否有异常事件发生时,用于实现:
将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;
根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
在一实施例中,所述处理器还用于实现以下步骤:
获取所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;
向所述目标基站发送所述待跟拍对象,以供所述目标基站控制执行所述飞行任务的无人机对所述待跟拍对象进行跟拍。
在一实施例中,所述待跟拍对象包括宠物、人和汽车中的任一项。
需要说明的是,所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,上述描述的服务器的具体工作过程,可以参考前述无人机调度方法实施例中的对应过程,在此不再赘述。
请参阅图6,图6是本申请实施例提供的一种基站的结构示意性框图。
如图6所示,基站500包括第一无线通信装置510、第二无线通信装置520、存储器530和处理器540,第一无线通信装置510、第二无线通信装置520、存储器530和处理器540通过总线550连接,该总线550比如为I2C(Inter-integrated Circuit)总线。
具体地,第一无线通信装置510用于与服务器通信连接,第二无线通信装置520用于与多架无人机通信连接,基站500用于控制多架无人机。
具体地,存储器530可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
具体地,处理器540可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
其中,所述处理器540用于运行存储在存储器530中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的;
从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行;
在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务;
获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在执行所述飞行任务时所采集到的;
向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
在一实施例中,所述处理器在实现控制所述目标无人机在所述目标飞行区域内执行所述飞行任务时,用于实现:
获取所述目标无人机在所述目标飞行区域内的飞行航线;
控制所述目标无人机按照所述飞行航线飞行,以使所述目标无人机在所述目标飞行区域内执行所述飞行任务。
在一实施例中,所述处理器在实现获取所述目标无人机在所述目标飞行区域内的飞行航线时,用于实现:
在所述目标飞行区域内规划无人机的飞行航线。
在一实施例中,所述处理器在实现获取所述目标无人机在所述目标飞行区域内的飞行航线时,用于实现:
获取所述服务器发送的飞行航线,所述飞行航线是所述服务器从所述无人机租赁请求中获取到的。
在一实施例中,所述飞行航线包括环绕航线和/或带状航线。
在一实施例中,所述处理器还用于实现以下步骤:
获取所述服务器发送的拍摄参数调整指令,所述拍摄参数调整指令是由所述终端设备触发的;
根据所述拍摄参数调整指令,调整所述目标无人机上搭载的拍摄装置的拍摄参数。
在一实施例中,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
在一实施例中,所述处理器还用于实现以下步骤:
获取所述服务器转发的所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;
控制所述目标无人机对所述待跟拍对象进行跟随拍摄。
在一实施例中,所述待跟拍对象包括宠物、人和汽车中的任一项。
在一实施例中,所述处理器还用于实现以下步骤:
根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;
若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
在一实施例中,所述处理器在实现根据所述图像数据确定所述目标飞行区域内是否有异常事件发生时,用于实现:
将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;
根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
在一实施例中,所述处理器在实现向告警处理平台发送告警提示信息时,用于实现:
获取发生所述异常事件的时刻信息和位置信息;
根据所述时刻信息和位置信息,生成对应的告警提示信息;
向告警处理平台发送所述告警提示信息。
在一实施例中,所述告警处理平台包括安全监控平台或交通指挥平台,所述处理器在实现向告警处理平台发送所述告警提示信息时,用于实现:
若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;
若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
在一实施例中,所述处理器还用于实现以下步骤:
在控制所述目标无人机执行所述飞行任务的过程中,获取所述目标无人机在当前位置点与所述基站之间的往返时间和所述目标无人机的电池续航时间;
若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则控制所述目标无人机悬停;
根据所述目标无人机的当前位置点的位置坐标,确定目标等候点,并控制所述多架无人机中的其余无人机向所述目标等候点飞行;
在确定所述其余无人机抵达所述目标等候点后,控制所述目标无人机向所述基站飞行,并控制所述其余无人机继续执行所述飞行任务。
在一实施例中,所述目标无人机的当前位置点与所述目标等候点间隔预设距离和/或高度。
在一实施例中,所述处理器在实现获取所述目标无人机在当前位置点与所述基站之间的往返时间时,用于实现:
获取所述目标无人机的当前位置点的第一位置坐标和所述基站的第二位置坐标;
根据所述第一位置坐标和所述第二位置坐标,确定所述目标无人机与所述基站之间的距离;
根据所述目标无人机与所述基站之间的距离和所述目标无人机的飞行速度,确定所述往返时间。
在一实施例中,所述处理器还用于实现以下步骤:
若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则 向所述服务器发送无人机替换提示信息,以使所述服务器将所述无人机替换提示信息发送至所述终端设备进行显示。
在一实施例中,所述处理器还用于实现以下步骤:
在所述目标无人机抵达所述基站后,控制所述目标无人机飞行至充电设备,以使所述充电设备给所述目标无人机中的电池进行充电。
需要说明的是,所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,上述描述的基站的具体工作过程,可以参考前述无人机调度方法实施例中的对应过程,在此不再赘述。
请参阅图7,图7是本申请实施例提供的一种无人机调度***的结构示意性框图。如图7所示,无人机调度***600包括服务器610和多个基站620,服务器610与多个基站620通信连接,每个基站620与多架无人机通信连接,用于控制多架无人机。其中,服务器610可以为图5所示的服务器400,基站620可以为图6所示的基站500。
需要说明的是,所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,上述描述的无人机调度***的具体工作过程,可以参考前述无人机调度方法实施例中的对应过程,在此不再赘述。
本申请实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的无人机调度方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的服务器或基站的内部存储单元,例如所述服务器或基站的硬盘或内存。所述计算机可读存储介质也可以是所述服务器或基站的外部存储设备,例如所述服务器或基站上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
应当理解,在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样,除非上下文清楚地指明其它情况,否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于 此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。
Claims (68)
- 一种无人机调度方法,其特征在于,应用于服务器,所述服务器用于与多个基站通信连接,每个所述基站用于与多架无人机通信连接,用于控制所述多架无人机,所述方法包括:获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域;从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站;向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务;获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
- 根据权利要求1所述的无人机调度方法,其特征在于,所述从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站,包括:确定所述目标飞行区域与每个所述基站之间的距离;根据所述目标飞行区域与每个所述基站之间的距离,从所述多个基站中确定执行所述飞行任务的无人机所属的目标基站。
- 根据权利要求1所述的无人机调度方法,其特征在于,所述从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站,包括:从所述无人机租赁请求中获取基站标识信息;将所述多个基站中的与所述基站标识信息对应的基站确定为所述目标基站。
- 根据权利要求1所述的无人机调度方法,其特征在于,所述向所述目标基站发送所述飞行任务和所述目标飞行区域之前,还包括:获取无人机在所述目标飞行区域内的飞行航线;所述向所述目标基站发送所述飞行任务和所述目标飞行区域,包括:向所述目标基站发送所述飞行任务、所述目标飞行区域和所述飞行航线,以使所述目标基站控制空闲的无人机按照所述飞行航线飞行,以使所述无人机在所述目标飞行区域内执行所述飞行任务。
- 根据权利要求4所述的无人机调度方法,其特征在于,所述获取无人机在所述目标飞行区域内的飞行航线,包括:在所述目标飞行区域内规划无人机的飞行航线。
- 根据权利要求4所述的无人机调度方法,其特征在于,所述获取无人机 在所述目标飞行区域内的飞行航线,包括:从所述无人机租赁请求中获取无人机在所述目标飞行区域内的飞行航线。
- 根据权利要求4所述的无人机调度方法,其特征在于,所述飞行航线包括环绕航线和/或带状航线。
- 根据权利要求1所述的无人机调度方法,其特征在于,所述方法还包括:获取所述终端设备发送的拍摄参数调整指令,所述拍摄参数调整指令用于指示所述目标基站调整执行所述飞行任务的目标无人机的拍摄参数;向所述目标基站发送所述拍摄参数调整指令,以供所述目标基站基于拍摄参数调整指令,调整所述目标无人机的拍摄参数。
- 根据权利要求8所述的无人机调度方法,其特征在于,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
- 根据权利要求1-9中任一项所述的无人机调度方法,其特征在于,所述获取所述目标基站发送的图像数据之后,还包括:根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
- 根据权利要求10所述的无人机调度方法,其特征在于,所述向告警处理平台发送告警提示信息,包括:获取发生所述异常事件的时刻信息和位置信息;根据所述时刻信息和位置信息,生成对应的告警提示信息;向告警处理平台发送所述告警提示信息。
- 根据权利要求11所述的无人机调度方法,其特征在于,所述告警处理平台包括安全监控平台或交通指挥平台,所述向告警处理平台发送所述告警提示信息,包括:若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
- 根据权利要求10所述的无人机调度方法,其特征在于,所述根据所述图像数据确定所述目标飞行区域内是否有异常事件发生,包括:将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
- 根据权利要求1-9中任一项所述的无人机调度方法,其特征在于,所述方法还包括:获取所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;向所述目标基站发送所述待跟拍对象,以供所述目标基站控制执行所述飞行任务的无人机对所述待跟拍对象进行跟拍。
- 根据权利要求14所述的无人机调度方法,其特征在于,所述待跟拍对象包括宠物、人和汽车中的任一项。
- 一种无人机调度方法,其特征在于,应用于基站,所述基站与多架无人机通信连接,用于控制所述多架无人机,所述方法包括:获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的;从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行;在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务;获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在执行所述飞行任务时所采集到的;向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
- 根据权利要求16所述的无人机调度方法,其特征在于,所述控制所述目标无人机在所述目标飞行区域内执行所述飞行任务,包括:获取所述目标无人机在所述目标飞行区域内的飞行航线;控制所述目标无人机按照所述飞行航线飞行,以使所述目标无人机在所述目标飞行区域内执行所述飞行任务。
- 根据权利要求17所述的无人机调度方法,其特征在于,所述获取所述目标无人机在所述目标飞行区域内的飞行航线,包括:在所述目标飞行区域内规划无人机的飞行航线。
- 根据权利要求17所述的无人机调度方法,其特征在于,所述获取所述目标无人机在所述目标飞行区域内的飞行航线,包括:获取所述服务器发送的飞行航线,所述飞行航线是所述服务器从所述无人 机租赁请求中获取到的。
- 根据权利要求17所述的无人机调度方法,其特征在于,所述飞行航线包括环绕航线和/或带状航线。
- 根据权利要求16所述的无人机调度方法,其特征在于,所述方法还包括:获取所述服务器发送的拍摄参数调整指令,所述拍摄参数调整指令是由所述终端设备触发的;根据所述拍摄参数调整指令,调整所述目标无人机上搭载的拍摄装置的拍摄参数。
- 根据权利要求21所述的无人机调度方法,其特征在于,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
- 根据权利要求16所述的无人机调度方法,其特征在于,所述方法还包括:获取所述服务器转发的所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;控制所述目标无人机对所述待跟拍对象进行跟随拍摄。
- 根据权利要求23所述的无人机调度方法,其特征在于,所述待跟拍对象包括宠物、人和汽车中的任一项。
- 根据权利要求16-24中任一项所述的无人机调度方法,其特征在于,所述方法还包括:根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
- 根据权利要求25所述的无人机调度方法,其特征在于,所述根据所述图像数据确定所述目标飞行区域内是否有异常事件发生,包括:将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
- 根据权利要求25所述的无人机调度方法,其特征在于,所述向告警处理平台发送告警提示信息,包括:获取发生所述异常事件的时刻信息和位置信息;根据所述时刻信息和位置信息,生成对应的告警提示信息;向告警处理平台发送所述告警提示信息。
- 根据权利要求27所述的无人机调度方法,其特征在于,所述告警处理平台包括安全监控平台或交通指挥平台,所述向告警处理平台发送所述告警提示信息,包括:若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
- 根据权利要求16-24中任一项所述的无人机调度方法,其特征在于,所述方法还包括:在控制所述目标无人机执行所述飞行任务的过程中,获取所述目标无人机在当前位置点与所述基站之间的往返时间和所述目标无人机的电池续航时间;若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则控制所述目标无人机悬停;根据所述目标无人机的当前位置点的位置坐标,确定目标等候点,并控制所述多架无人机中的其余无人机向所述目标等候点飞行;在确定所述其余无人机抵达所述目标等候点后,控制所述目标无人机向所述基站飞行,并控制所述其余无人机继续执行所述飞行任务。
- 根据权利要求29所述的无人机调度方法,其特征在于,所述目标无人机的当前位置点与所述目标等候点间隔预设距离和/或高度。
- 根据权利要求29所述的无人机调度方法,其特征在于,所述获取所述目标无人机在当前位置点与所述基站之间的往返时间,包括:获取所述目标无人机的当前位置点的第一位置坐标和所述基站的第二位置坐标;根据所述第一位置坐标和所述第二位置坐标,确定所述目标无人机与所述基站之间的距离;根据所述目标无人机与所述基站之间的距离和所述目标无人机的飞行速度,确定所述往返时间。
- 根据权利要求29所述的无人机调度方法,其特征在于,所述方法还包括:若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则向所述服务器发送无人机替换提示信息,以使所述服务器将所述无人机替换提 示信息发送至所述终端设备进行显示。
- 根据权利要求29所述的无人机调度方法,其特征在于,所述方法还包括:在所述目标无人机抵达所述基站后,控制所述目标无人机飞行至充电设备,以使所述充电设备给所述目标无人机中的电池进行充电。
- 一种服务器,其特征在于,所述服务器用于与多个基站通信连接,每个所述基站用于与多架无人机通信连接,用于控制所述多架无人机,所述服务器包括无线通信装置、存储器和处理器;所述无线通信装置用于与多个基站通信;所述存储器用于存储计算机程序;所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:获取终端设备发送的无人机租赁请求,并根据所述无人机租赁请求,确定待执行的飞行任务和执行所述飞行任务时的目标飞行区域;从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站;向所述目标基站发送所述飞行任务和所述目标飞行区域,以供所述目标基站控制空闲的无人机在所述目标飞行区域内执行所述飞行任务;获取所述目标基站发送的图像数据,并将所述图像数据发送给所述终端设备进行显示,所述图像数据是所述无人机执行所述飞行任务时所采集到的。
- 根据权利要求34所述的服务器,其特征在于,所述处理器在实现从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站时,用于实现:确定所述目标飞行区域与每个所述基站之间的距离;根据所述目标飞行区域与每个所述基站之间的距离,从所述多个基站中确定执行所述飞行任务的无人机所属的目标基站。
- 根据权利要求34所述的服务器,其特征在于,所述处理器在实现从所述多个基站中获取执行所述飞行任务的无人机所属的目标基站时,用于实现:从所述无人机租赁请求中获取基站标识信息;将所述多个基站中的与所述基站标识信息对应的基站确定为所述目标基站。
- 根据权利要求34所述的服务器,其特征在于,所述处理器在实现向所述目标基站发送所述飞行任务和所述目标飞行区域之前,还用于实现:获取无人机在所述目标飞行区域内的飞行航线;所述处理器在实现向所述目标基站发送所述飞行任务和所述目标飞行区域 时,用于实现:向所述目标基站发送所述飞行任务、所述目标飞行区域和所述飞行航线,以使所述目标基站控制空闲的无人机按照所述飞行航线飞行,以使所述无人机在所述目标飞行区域内执行所述飞行任务。
- 根据权利要求37所述的服务器,其特征在于,所述处理器在实现获取无人机在所述目标飞行区域内的飞行航线时,用于实现:在所述目标飞行区域内规划无人机的飞行航线。
- 根据权利要求37所述的服务器,其特征在于,所述处理器在实现获取无人机在所述目标飞行区域内的飞行航线时,用于实现:从所述无人机租赁请求中获取无人机在所述目标飞行区域内的飞行航线。
- 根据权利要求37所述的服务器,其特征在于,所述飞行航线包括环绕航线和/或带状航线。
- 根据权利要求34所述的服务器,其特征在于,所述处理器还用于实现以下步骤:获取所述终端设备发送的拍摄参数调整指令,所述拍摄参数调整指令用于指示所述目标基站调整执行所述飞行任务的目标无人机的拍摄参数;向所述目标基站发送所述拍摄参数调整指令,以供所述目标基站基于拍摄参数调整指令,调整所述目标无人机的拍摄参数。
- 根据权利要求41所述的服务器,其特征在于,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
- 根据权利要求34-42中任一项所述的服务器,其特征在于,所述处理器在实现获取所述目标基站发送的图像数据之后,还用于实现:根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
- 根据权利要求43所述的服务器,其特征在于,所述处理器在实现向告警处理平台发送告警提示信息时,用于实现:获取发生所述异常事件的时刻信息和位置信息;根据所述时刻信息和位置信息,生成对应的告警提示信息;向告警处理平台发送所述告警提示信息。
- 根据权利要求44所述的服务器,其特征在于,所述告警处理平台包括安全监控平台或交通指挥平台,所述处理器在实现向告警处理平台发送所述告 警提示信息时,用于实现:若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
- 根据权利要求43所述的服务器,其特征在于,所述处理器在实现根据所述图像数据确定所述目标飞行区域内是否有异常事件发生时,用于实现:将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
- 根据权利要求34-42中任一项所述的服务器,其特征在于,所述处理器还用于实现以下步骤:获取所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;向所述目标基站发送所述待跟拍对象,以供所述目标基站控制执行所述飞行任务的无人机对所述待跟拍对象进行跟拍。
- 根据权利要求47所述的服务器,其特征在于,所述待跟拍对象包括宠物、人和汽车中的任一项。
- 一种基站,其特征在于,所述基站包括第一无线通信装置、第二无线通信装置、存储器和处理器;所述第一无线通信装置用于与服务器通信连接,所述第二无线通信装置用于与多架无人机通信连接,所述基站用于控制所述多架无人机;所述存储器用于存储计算机程序;所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:获取服务器发送的飞行任务和目标飞行区域,所述飞行任务和所述目标飞行区域是所述服务器根据终端设备发送的无人机租赁请求确定的;从所述多架无人机中确定空闲的目标无人机,并控制所述目标无人机向所述目标飞行区域飞行;在所述无人机抵达所述目标飞行区域后,控制所述目标无人机在所述目标飞行区域内执行所述飞行任务;获取所述目标无人机发送的图像数据,所述图像数据是所述目标无人机在 执行所述飞行任务时所采集到的;向所述服务器发送所述图像数据,以供所述服务器将所述图像数据发送至所述终端设备进行显示。
- 根据权利要求49所述的基站,其特征在于,所述处理器在实现控制所述目标无人机在所述目标飞行区域内执行所述飞行任务时,用于实现:获取所述目标无人机在所述目标飞行区域内的飞行航线;控制所述目标无人机按照所述飞行航线飞行,以使所述目标无人机在所述目标飞行区域内执行所述飞行任务。
- 根据权利要求50所述的基站,其特征在于,所述处理器在实现获取所述目标无人机在所述目标飞行区域内的飞行航线时,用于实现:在所述目标飞行区域内规划无人机的飞行航线。
- 根据权利要求50所述的基站,其特征在于,所述处理器在实现获取所述目标无人机在所述目标飞行区域内的飞行航线时,用于实现:获取所述服务器发送的飞行航线,所述飞行航线是所述服务器从所述无人机租赁请求中获取到的。
- 根据权利要求50所述的基站,其特征在于,所述飞行航线包括环绕航线和/或带状航线。
- 根据权利要求49所述的基站,其特征在于,所述处理器还用于实现以下步骤:获取所述服务器发送的拍摄参数调整指令,所述拍摄参数调整指令是由所述终端设备触发的;根据所述拍摄参数调整指令,调整所述目标无人机上搭载的拍摄装置的拍摄参数。
- 根据权利要求54所述的基站,其特征在于,所述拍摄参数包括曝光参数、跟焦参数、变焦参数、拍摄方向、拍摄角度中的至少一项。
- 根据权利要求49所述的基站,其特征在于,所述处理器还用于实现以下步骤:获取所述服务器转发的所述终端设备发送的待跟拍对象,所述待跟拍对象是所述终端设备根据用户对所述图像数据中的目标对象的框选操作确定的;控制所述目标无人机对所述待跟拍对象进行跟随拍摄。
- 根据权利要求56所述的基站,其特征在于,所述待跟拍对象包括宠物、人和汽车中的任一项。
- 根据权利要求49-57中任一项所述的基站,其特征在于,所述处理器还用于实现以下步骤:根据所述图像数据确定所述目标飞行区域内是否有异常事件发生;若所述目标飞行区域内有异常事件发生,则向告警处理平台发送告警提示信息,以供所述告警处理平台根据所述告警提示信息执行对应的告警操作。
- 根据权利要求58所述的基站,其特征在于,所述处理器在实现根据所述图像数据确定所述目标飞行区域内是否有异常事件发生时,用于实现:将所述图像数据输入预设的异常事件检测模型,得到异常事件检测结果,所述异常事件检测模型为预先训练好的神经网络模型;根据所述异常事件检测结果确定所述目标飞行区域内是否有异常事件发生。
- 根据权利要求58所述的基站,其特征在于,所述处理器在实现向告警处理平台发送告警提示信息时,用于实现:获取发生所述异常事件的时刻信息和位置信息;根据所述时刻信息和位置信息,生成对应的告警提示信息;向告警处理平台发送所述告警提示信息。
- 根据权利要求60所述的基站,其特征在于,所述告警处理平台包括安全监控平台或交通指挥平台,所述处理器在实现向告警处理平台发送所述告警提示信息时,用于实现:若所述异常事件为交通异常事件,则向所述交通指挥平台发送所述告警提示信息,以供所述交通指挥平台输出所述告警提示信息;若所述异常事件为安全异常事件,则向所述安全监控平台发送所述告警提示信息,以供所述安全监控平台输出所述告警提示信息。
- 根据权利要求49-57中任一项所述的基站,其特征在于,所述处理器还用于实现以下步骤:在控制所述目标无人机执行所述飞行任务的过程中,获取所述目标无人机在当前位置点与所述基站之间的往返时间和所述目标无人机的电池续航时间;若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则控制所述目标无人机悬停;根据所述目标无人机的当前位置点的位置坐标,确定目标等候点,并控制所述多架无人机中的其余无人机向所述目标等候点飞行;在确定所述其余无人机抵达所述目标等候点后,控制所述目标无人机向所述基站飞行,并控制所述其余无人机继续执行所述飞行任务。
- 根据权利要求62所述的基站,其特征在于,所述目标无人机的当前位置点与所述目标等候点间隔预设距离和/或高度。
- 根据权利要求62所述的基站,其特征在于,所述处理器在实现获取所述目标无人机在当前位置点与所述基站之间的往返时间时,用于实现:获取所述目标无人机的当前位置点的第一位置坐标和所述基站的第二位置坐标;根据所述第一位置坐标和所述第二位置坐标,确定所述目标无人机与所述基站之间的距离;根据所述目标无人机与所述基站之间的距离和所述目标无人机的飞行速度,确定所述往返时间。
- 根据权利要求62所述的基站,其特征在于,所述处理器还用于实现以下步骤:若所述电池续航时间与所述往返时间的差值小于或等于预设时间阈值,则向所述服务器发送无人机替换提示信息,以使所述服务器将所述无人机替换提示信息发送至所述终端设备进行显示。
- 根据权利要求62所述的基站,其特征在于,所述处理器还用于实现以下步骤:在所述目标无人机抵达所述基站后,控制所述目标无人机飞行至充电设备,以使所述充电设备给所述目标无人机中的电池进行充电。
- 一种无人机调度***,其特征在于,所述无人机调度***包括权利要求34-48中任一项所述的服务器和多个基站,或者,所述无人机调度***包括服务器和多个如权利要求49-66中任一项所述的基站,或者,所述无人机调度***包括权利要求34-48中任一项所述的服务器和多个如权利要求49-66中任一项所述的基站,所述服务器与多个所述基站通信连接,每个所述基站与多架无人机通信连接,用于控制所述多架无人机。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如权利要求1-33中任一项所述的无人机调度方法。
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