WO2022252429A1 - Unmanned device control method and apparatus, storage medium, and electronic device - Google Patents

Abstract

An unmanned device control method and apparatus, a storage medium, and an electronic device. The unmanned device control method comprises: monitoring a motion state of a first unmanned device when performing a task according to a pre-planned path (S100); determining, according to the monitored motion state of the first unmanned device, whether an anomaly occurs when the first unmanned device performs the task (S102); if an anomaly occurs when the first unmanned device performs the task, scheduling a second unmanned device to perform an environmental survey (S104); re-planning a path for the first unmanned device according to the environmental survey result (S106); and controlling, according to a re-planned path, the first unmanned device to perform a task according to the re-planned path (S108).

Description

无人设备控制方法、装置、存储介质及电子设备Unmanned equipment control method, device, storage medium and electronic equipment 技术领域technical field

本说明书涉及自动驾驶领域，尤其涉及一种无人设备控制方法、装置、存储介质及电子设备。This specification relates to the field of automatic driving, and in particular to an unmanned equipment control method, device, storage medium and electronic equipment.

背景技术Background technique

随着自动驾驶技术的发展，越来越多的无人设备应用于配送行业。With the development of autonomous driving technology, more and more unmanned equipment is used in the distribution industry.

在无人设备执行配送任务之前，可以根据配送任务的起始位置和终点位置，对无人设备进行路径规划，以控制无人设备按照规划的路径执行配送任务。Before the unmanned equipment performs the delivery task, the unmanned equipment can be planned for the path according to the starting position and the end position of the delivery task, so as to control the unmanned equipment to perform the delivery task according to the planned path.

然而，无人设备在执行配送任务过程中，只能按照规划的路径行驶，在这种情况下，若遇到交通拥堵、交通事故等特殊情况，将导致无人设备的配送效率降低。However, unmanned equipment can only drive according to the planned path during the delivery task. In this case, if special circumstances such as traffic congestion and traffic accidents occur, the delivery efficiency of unmanned equipment will be reduced.

发明内容Contents of the invention

本说明书实施例提供一种无人设备控制方法、装置、存储介质及电子设备，以部分解决上述存在的问题。The embodiments of this specification provide a control method, device, storage medium, and electronic equipment for unmanned equipment, so as to partially solve the above-mentioned existing problems.

本说明书实施例采用下述技术方案：The embodiment of this description adopts the following technical solutions:

本说明书提供的一种无人设备控制方法，包括：An unmanned equipment control method provided in this manual includes:

监控第一无人设备按照预先规划的路径执行任务时的运动状态，所述第一无人设备包括：无人车；Monitoring the motion state of the first unmanned device when performing tasks according to a pre-planned path, the first unmanned device includes: an unmanned vehicle;

根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常；若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测，所述第二无人设备包括：无人机；其中，所述无人机包括：所述无人车当前承载的无人机和除所述无人车当前承载的无人机之外的其他无人机；According to the motion state, it is judged whether an abnormality occurs when the first unmanned device performs the task; if an abnormality occurs when the first unmanned device performs the task, the second unmanned device is dispatched to conduct an environmental survey, and the The second unmanned equipment includes: unmanned aerial vehicle; wherein, the unmanned aerial vehicle includes: the unmanned aerial vehicle currently carried by the unmanned vehicle and other unmanned aerial vehicles other than the unmanned aerial vehicle currently carried by the unmanned vehicle man-machine;

根据环境勘测的结果，为所述第一无人设备重新规划路径；According to the result of the environmental survey, re-plan the route for the first unmanned device;

根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务；According to the replanned path, controlling the first unmanned device to perform the task according to the replanned path;

其中，调度所述第二无人设备进行环境勘测，包括：调度所述无人车当前承载的无 人机对所述无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息；若所述第一道路信息中不存在可通行的路径信息，调度所述其他无人机对所述无人车周围第二预设范围内的环境进行环境勘测，得到第二道路信息；其中，所述第二预设范围大于所述第一预设范围；若所述第二道路信息中不存在可通行的路径信息，调度所述无人机执行所述任务。Wherein, dispatching the second unmanned device to conduct environmental survey includes: dispatching the unmanned vehicle currently carried by the unmanned vehicle to perform environmental survey on the environment within the first preset range around the unmanned vehicle, and obtain the first Road information; if there is no passable path information in the first road information, dispatch the other unmanned aerial vehicles to conduct an environmental survey on the environment within the second preset range around the unmanned vehicle to obtain the second road information ; Wherein, the second preset range is larger than the first preset range; if there is no passable path information in the second road information, the UAV is scheduled to perform the task.

可选地，根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常，包括：根据所述第一无人设备的运动速度，判断所述第一无人设备执行所述任务时是否出现异常；若所述第一无人设备的运动速度在预设时长内持续小于速度阈值，确定所述第一无人设备执行所述任务时出现异常。Optionally, judging whether an abnormality occurs when the first unmanned device performs the task according to the motion state includes: judging that the first unmanned device performs Whether an abnormality occurs during the task; if the movement speed of the first unmanned device is continuously lower than a speed threshold within a preset time period, it is determined that an abnormality occurs when the first unmanned device performs the task.

可选地，调度所述第二无人设备进行环境勘测，包括：监控所述其他无人机的运动轨迹；根据所述运动轨迹以及所述第一无人设备周围的第一预设范围，调度所述其他无人机中距离所述第一无人设备的距离在所述第一预设范围内的无人机进行环境勘测。Optionally, dispatching the second unmanned equipment to conduct environmental surveys includes: monitoring the movement trajectory of the other unmanned aerial vehicles; according to the movement trajectory and the first preset range around the first unmanned equipment, Dispatching the drones among the other drones whose distance from the first unmanned device is within the first preset range to conduct environmental survey.

可选地，所述方法还包括：根据所述第一无人设备采集的历史交通标识数据，在地图上标出异常的交通标识并确定出现异常的时间段；根据所述第一无人设备的当前位置，判断所述第一无人设备的位置与所述异常的交通标识的位置是否处于第三预设范围内和/或所述第一无人设备当前时刻是否处于所述出现异常的时间段；响应于所述第一无人设备的位置与所述异常的交通标识的位置处于所述第三预设范围内和/或所述第一无人设备当前时刻处于所述出现异常的时间段，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；根据勘测的结果，确定所述第一无人设备的控制策略；采用确定出的控制策略控制所述第一无人设备。Optionally, the method further includes: according to the historical traffic sign data collected by the first unmanned device, marking abnormal traffic signs on the map and determining the time period when the abnormality occurs; according to the first unmanned device the current position of the first unmanned device, and judge whether the position of the first unmanned device and the position of the abnormal traffic sign are within a third preset range and/or whether the first unmanned device is in the abnormal traffic sign at the current moment Time period; in response to the position of the first unmanned device and the position of the abnormal traffic sign being within the third preset range and/or the first unmanned device at the current moment in the abnormal traffic sign During the time period, dispatching the second unmanned device to survey traffic signs within a third preset range around the first unmanned device; according to the survey results, determine the control strategy of the first unmanned device; adopt The determined control policy controls the first unmanned device.

可选地，所述方法还包括：在所述第一无人设备执行所述任务的过程中，根据所述第一无人设备上安装的信息设备采集到的环境信息，判断所述第一无人设备周围第三预设范围内的交通标识是否存在遮挡；响应于所述第一无人设备周围第三预设范围内的交通标识存在遮挡，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；根据勘测的结果，确定所述第一无人设备的控制策略；采用确定出的控制策略控制所述第一无人设备。Optionally, the method further includes: during the process of the first unmanned device performing the task, according to the environment information collected by the information equipment installed on the first unmanned device, judging whether the first Whether the traffic sign within the third preset range around the unmanned device is blocked; in response to the blockage of the traffic sign within the third preset range around the first unmanned device, schedule the second unmanned device to Surveying traffic signs within a third preset range around the first unmanned device; determining a control strategy for the first unmanned device according to the survey results; and controlling the first unmanned device using the determined control strategy.

本说明书提供的一种无人设备控制装置，包括：An unmanned equipment control device provided in this manual, including:

监控模块，用于监控第一无人设备按照预先规划的路径执行任务时的运动状态，所述第一无人设备包括：无人车；The monitoring module is used to monitor the movement state of the first unmanned equipment when performing tasks according to the pre-planned path, and the first unmanned equipment includes: unmanned vehicle;

判断模块，用于根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常；A judging module, configured to judge whether an abnormality occurs when the first unmanned device performs the task according to the motion state;

调度模块，用于若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测，所述第二无人设备包括：无人机；其中，所述无人机包括：所述无人车当前承载的无人机和除所述无人车当前承载的无人机之外的其他无人机；A dispatching module, configured to dispatch a second unmanned device to conduct environmental surveys if an abnormality occurs when the first unmanned device performs the task, and the second unmanned device includes: a drone; wherein the unmanned The aircraft includes: the unmanned aerial vehicle currently carried by the unmanned vehicle and other unmanned aerial vehicles except the unmanned aerial vehicle currently carried by the unmanned vehicle;

重新规划路径模块，用于根据环境勘测的结果，为所述第一无人设备重新规划路径；控制模块，用于根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务；The path re-planning module is used to re-plan the path for the first unmanned device according to the results of the environmental survey; the control module is used to control the first unmanned device to execute according to the re-planned path according to the re-planned path. said task;

所述调度模块，具体用于调度所述无人车当前承载的无人机对所述无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息；若所述第一道路信息中不存在可通行的路径信息，调度所述其他无人机对所述无人车周围第二预设范围内的环境进行环境勘测，得到第二道路信息；其中，所述第二预设范围大于所述第一预设范围；若所述第二道路信息中不存在可通行的路径信息，调度所述无人机执行所述任务。The scheduling module is specifically used to schedule the unmanned vehicle currently carried by the unmanned vehicle to conduct environmental surveys on the environment within the first preset range around the unmanned vehicle to obtain first road information; if the first There is no passable path information in the road information, and the other unmanned aerial vehicles are dispatched to conduct environmental surveys on the environment within the second preset range around the unmanned vehicle to obtain second road information; wherein, the second preset The range is set to be greater than the first preset range; if there is no passable path information in the second road information, the UAV is scheduled to perform the task.

可选地，所述判断模块，在用于根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常时，包括：根据所述第一无人设备的运动速度，判断所述第一无人设备执行所述任务时是否出现异常；若所述第一无人设备的运动速度在预设时长内持续小于速度阈值，确定所述第一无人设备执行所述任务时出现异常。Optionally, when the judging module is used to judge whether an abnormality occurs when the first unmanned device performs the task according to the motion state, it includes: according to the motion speed of the first unmanned device, Judging whether an abnormality occurs when the first unmanned device performs the task; if the speed of the first unmanned device continues to be less than a speed threshold within a preset time period, determine that the first unmanned device performs the task exception occurs.

可选地，所述调度模块，在用于若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测时，包括：监控所述其他无人机的运动轨迹；根据所述运动轨迹以及所述第一无人设备周围的第一预设范围，调度所述其他无人机中距离所述第一无人设备的距离在所述第一预设范围内的无人机进行环境勘测。Optionally, when the scheduling module is used to schedule the second unmanned equipment to conduct environmental survey if an abnormality occurs when the first unmanned equipment performs the task, it includes: monitoring the movement of the other unmanned aerial vehicles Trajectory; according to the movement trajectory and the first preset range around the first unmanned device, schedule the distance from the first unmanned device among the other drones to be within the first preset range drones for environmental surveys.

可选地，所述监控模块，还用于根据所述第一无人设备采集的历史交通标识数据，在地图上标出异常的交通标识并确定出现异常的时间段；Optionally, the monitoring module is further configured to mark abnormal traffic signs on the map and determine the time period when the abnormality occurs according to the historical traffic sign data collected by the first unmanned device;

可选地，所述判断模块，还用于根据所述第一无人设备的当前位置，判断所述第一无人设备的位置与所述异常的交通标识的位置是否处于第三预设范围内和/或所述第一无人设备当前时刻是否处于所述出现异常的时间段；Optionally, the judging module is further configured to judge whether the position of the first unmanned device and the position of the abnormal traffic sign are within a third preset range according to the current position of the first unmanned device and/or whether the current moment of the first unmanned device is in the abnormal time period;

可选地，所述调度模块，还用于响应于所述第一无人设备的位置与所述异常的交通标识的位置处于所述第三预设范围内和/或所述第一无人设备当前时刻处于所述出现异常的时间段，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标 识进行勘测；Optionally, the scheduling module is further configured to respond to the position of the first unmanned device and the position of the abnormal traffic sign being within the third preset range and/or the first unmanned device The device is currently in the abnormal time period, and the second unmanned device is scheduled to survey traffic signs within a third preset range around the first unmanned device;

可选地，所述控制模块，还用于根据勘测的结果，确定所述第一无人设备的控制策略，采用确定出的控制策略控制所述第一无人设备。Optionally, the control module is further configured to determine a control strategy of the first unmanned device according to the survey result, and control the first unmanned device by using the determined control strategy.

可选地，所述判断模块，还用于在所述第一无人设备执行所述任务的过程中，根据所述第一无人设备上安装的信息设备采集到的环境信息，判断所述第一无人设备周围第三预设范围内的交通标识是否存在遮挡；Optionally, the judging module is further configured to judge the Whether the traffic signs within the third preset range around the first unmanned device are blocked;

可选地，所述调度模块，还用于响应于所述第一无人设备周围第三预设范围内的交通标识存在遮挡，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；Optionally, the dispatching module is further configured to dispatch the second unmanned device to the first unmanned device in response to occlusion of traffic signs within a third preset range around the first unmanned device. Surveying traffic signs within the third preset range around;

可选地，所述控制模块，还用于根据勘测的结果，确定所述第一无人设备的控制策略，采用确定出的控制策略控制所述无人车。Optionally, the control module is further configured to determine a control strategy of the first unmanned device according to the survey results, and control the unmanned vehicle by using the determined control strategy.

本说明书提供的一种计算机可读存储介质，所述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实现上述的无人设备控制方法。This specification provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned unmanned equipment control method is realized.

本说明书提供的一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的无人设备方法。An electronic device provided in this specification includes a memory, a processor, and a computer program stored on the memory and operable on the processor. The processor implements the above-mentioned unmanned device method when executing the program.

本说明书实施例采用的上述至少一个技术方案能够达到以下有益效果：The above at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

本说明书实施例在第一无人设备按照预先规划的路径执行任务的过程中，根据监控到的第一无人设备的运动状态，判断第一无人设备执行任务时是否出现异常。若第一无人设备执行任务时出现异常，则调度第二无人设备进行环境勘测。根据勘测结果，可以重新为第一无人设备规划路径，并控制第一无人设备按照重新规划的路径执行任务。在此方法中，当第一无人设备执行任务出现异常时，即，当第一无人设备执行任务遇到交通拥堵等特殊情况时，可以在第二无人设备的协助下重新为第一无人设备规划可通行的路径。这样就可以提高无人设备的配送效率。In the embodiment of the present description, during the process of the first unmanned device executing the task according to the pre-planned path, it is judged whether the first unmanned device is abnormal when performing the task according to the monitored motion state of the first unmanned device. If an abnormality occurs when the first unmanned device performs a task, the second unmanned device is dispatched to conduct environmental survey. According to the survey results, a path can be re-planned for the first unmanned device, and the first unmanned device can be controlled to perform tasks according to the re-planned path. In this method, when the first unmanned device performs a task abnormally, that is, when the first unmanned device performs a task and encounters special circumstances such as traffic jams, it can be re-created for the first unmanned device with the assistance of the second unmanned device. An unmanned device plans a passable path. In this way, the delivery efficiency of unmanned equipment can be improved.

附图说明Description of drawings

此处所说明的附图用来提供对本说明书的进一步理解，构成本说明书的一部分，本说明书的示意性实施例及其说明用于解释本说明书，并不构成对本说明书的不当限定。在附图中：The drawings described here are used to provide a further understanding of this specification and constitute a part of this specification. The schematic embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the attached picture:

图1为本说明书实施例一提供的无人设备控制方法的流程示意图；FIG. 1 is a schematic flow diagram of the unmanned equipment control method provided in Embodiment 1 of this specification;

图2A为本说明书实施例一提供的无人机位于无人车内部的结构示意图；FIG. 2A is a schematic structural diagram of the drone located inside the unmanned vehicle provided by Embodiment 1 of this specification;

图2B为本说明书实施例一提供的无人机位于无人车顶部的结构示意图；Fig. 2B is a schematic structural diagram of the drone on the top of the unmanned vehicle provided by Embodiment 1 of this specification;

图3为本说明书实施例一提供的无人车调度无人机的场景示意图；FIG. 3 is a schematic diagram of a scene of an unmanned vehicle dispatching an unmanned aerial vehicle provided in Embodiment 1 of this specification;

图4为本说明书实施例提供的无人设备控制装置结构示意图；Fig. 4 is a schematic structural diagram of the unmanned equipment control device provided by the embodiment of this specification;

图5为本说明书实施例提供的电子设备的结构示意图。FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of this specification.

具体实施方式Detailed ways

在一些示例中，通常采用单一类型的无人设备执行配送任务。以无人车为例，无人车在执行配送任务时，只能按照预先规划的路径进行行驶，不能改变规划的行驶路径。在无人车按照预先规划的路径行驶时，可能会遇到交通拥堵、交通事故、修路等特殊情况。在这些特殊情况下，由于无人车不能改变规划的行驶路径以躲避这些特殊情况，无人车的配送效率会降低。In some examples, a single type of unmanned equipment is typically employed to perform delivery tasks. Taking unmanned vehicles as an example, when performing delivery tasks, unmanned vehicles can only drive according to the pre-planned path, and cannot change the planned driving path. When unmanned vehicles drive according to the pre-planned path, they may encounter special situations such as traffic jams, traffic accidents, and road repairs. In these special cases, since the unmanned vehicle cannot change the planned driving path to avoid these special circumstances, the delivery efficiency of the unmanned vehicle will be reduced.

而本说明书提供的无人设备控制方法可以采用多种类型的无人设备协作执行同一配送任务。以无人车和无人机为例，当无人车按照预先规划的路径执行配送任务时，同样可能遇到交通拥堵等特殊情况，但是，本说明书中可以调度无人机对无人车周围的路况进行勘测，为无人车找到可通行的路径，以此减少路况对无人车配送的影响，从而提高无人车的配送效率。However, the unmanned equipment control method provided in this manual can use multiple types of unmanned equipment to cooperate to perform the same distribution task. Taking unmanned vehicles and drones as examples, when unmanned vehicles perform delivery tasks according to the pre-planned route, they may also encounter special situations such as traffic jams. Survey the road conditions and find a passable path for unmanned vehicles, so as to reduce the impact of road conditions on the distribution of unmanned vehicles, thereby improving the delivery efficiency of unmanned vehicles.

为使本说明书的目的、技术方案和优点更加清楚，下面将结合本说明书具体实施例及相应的附图对本说明书技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，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，都属于本说明书保护的范围。In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

以下结合附图，详细说明本说明书各实施例提供的技术方案。The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.

实施例一：Embodiment one:

图1为本说明书实施例一提供的无人设备控制方法的流程示意图，包括：Fig. 1 is a schematic flow diagram of the unmanned equipment control method provided in Embodiment 1 of this specification, including:

S100：监控第一无人设备按照预先规划的路径执行任务时的运动状态。S100: Monitor the movement state of the first unmanned device when performing tasks according to a pre-planned path.

在本说明书实施例一中，图1所示的无人设备控制方法可以应用于控制无人设备的 服务器，也可以应用于无人设备。在应用图1所示的无人设备控制方法时，可以在不同无人设备之间建立通信，也可以在无人设备与控制无人设备的服务器之间建立通信，还可以将不同的无人设备与控制无人设备的服务器组成一个通信网络。In Embodiment 1 of this specification, the unmanned equipment control method shown in FIG. 1 can be applied to a server controlling the unmanned equipment, and can also be applied to the unmanned equipment. When applying the unmanned equipment control method shown in Figure 1, communication can be established between different unmanned equipment, and communication can also be established between the unmanned equipment and the server controlling the unmanned equipment, and different unmanned equipment can also be connected The device and the server controlling the unmanned device form a communication network.

在本说明书实施例一中，本说明书中的无人设备可包括无人车和无人机，所述的无人设备可用于物流配送领域，既包括外卖、生鲜产品配送等即时配送领域，也包括其他非即时配送领域，例如普通信件、包裹的配送等。其中，第一无人设备可以指无人车，第二无人设备可以指无人机，并且第二无人设备可以停靠于第一无人设备。第一无人设备与第二无人设备的对应关系，可以是一对一，也可以是一对多。也就是，针对每个第一无人设备，其中一种情况是：只有固定的一个第二无人设备可以停靠于该第一无人设备上；另一种情况是，有固定的多个第二无人设备可以停靠于该第一无人设备；还有一种一种情况是：任意第二无人设备都可以停靠于该第一无人设备。In the first embodiment of this specification, the unmanned equipment in this specification may include unmanned vehicles and unmanned aerial vehicles, and the unmanned equipment can be used in the field of logistics distribution, including immediate delivery fields such as takeaway and fresh product delivery, It also includes other non-immediate delivery fields, such as the delivery of ordinary letters and parcels, etc. Wherein, the first unmanned device may refer to an unmanned vehicle, the second unmanned device may refer to a drone, and the second unmanned device may be docked on the first unmanned device. The corresponding relationship between the first unmanned device and the second unmanned device may be one-to-one or one-to-many. That is, for each first unmanned device, one of the cases is: only one fixed second unmanned device can be docked on the first unmanned device; another case is that there are multiple fixed second unmanned devices The second unmanned device can be docked on the first unmanned device; there is another situation: any second unmanned device can be docked on the first unmanned device.

另外，本说明书中的无人设备都安装了激光雷达、摄像头等信息采集设备。接下来，以第一无人设备为无人车和第二无人设备为无人机为例，对图1所示的无人设备控制方法进行说明。In addition, the unmanned equipment in this manual is equipped with information collection equipment such as laser radar and camera. Next, taking the first unmanned equipment as an unmanned vehicle and the second unmanned equipment as an unmanned aerial vehicle as an example, the method for controlling the unmanned equipment shown in FIG. 1 will be described.

在本说明书实施例一中，可以先根据无人车需要执行的配送任务的起始位置和终点位置，为无人车规划行驶路径，作为预先规划的路径。然后，在无人车执行配送任务时，控制无人车按照预先规划的路径进行行驶，并且监控行驶过程中无人车的运动状态。其中，运动状态可包括：位置、运动速度等。In the first embodiment of this specification, the driving route for the unmanned vehicle can be planned according to the starting position and end position of the delivery task that the unmanned vehicle needs to perform, as a pre-planned route. Then, when the unmanned vehicle performs the delivery task, the unmanned vehicle is controlled to drive according to the pre-planned path, and the motion state of the unmanned vehicle is monitored during the driving process. Wherein, the motion state may include: position, motion speed, etc.

具体的，在无人车接收到配送任务时，可以先根据其他无人车和其他无人机当前采集的环境信息更新地图上标注的环境标识。然后，根据更新后的环境标识、配送任务的起始位置和配送任务的终点位置，为无人车规划路径。其中，环境信息可包括：道路信息和交通标识等。环境标识可以包括交通拥堵、交通事故、修路等标识。比如，将某某路段标注为交通拥堵路段。Specifically, when the unmanned vehicle receives the delivery task, it can first update the environmental identification marked on the map according to the environmental information currently collected by other unmanned vehicles and other drones. Then, according to the updated environment logo, the starting position of the delivery task and the end position of the delivery task, the path is planned for the unmanned vehicle. Wherein, the environmental information may include: road information and traffic signs, and the like. Environmental signs may include signs such as traffic jams, traffic accidents, and road repairs. For example, a certain road section is marked as a traffic jam road section.

为无人车预先规划的路径只考虑了无人车接收到配送任务时的道路状况，而无人车在执行配送任务过程中道路状况是实时变化的，因此，为避免道路拥堵等情况，需要监控无人车的运动状态。The pre-planned path for the unmanned vehicle only considers the road conditions when the unmanned vehicle receives the delivery task, and the road conditions change in real time during the delivery task of the unmanned vehicle. Therefore, in order to avoid road congestion and other situations, it is necessary to Monitor the movement status of the unmanned vehicle.

S102：根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常。S102: According to the movement state, determine whether an abnormality occurs when the first unmanned device performs the task.

在本说明书实施例一中，可以根据监控到的无人车的运动速度，判断无人车执行配送任务时是否出现异常。具体的，可以先根据无人车执行配送任务的配送时长以及该配 送任务对应的配送距离，确定无人车的速度阈值，即，执行配送任务的平均速度。比如：第一无人设备执行配送任务的配送时长为30min，配送距离为3km，那么第一无人设备的速度阈值为6km/h。In the first embodiment of this specification, it can be judged whether an abnormality occurs when the unmanned vehicle performs the delivery task according to the monitored moving speed of the unmanned vehicle. Specifically, the speed threshold of the unmanned vehicle, that is, the average speed of the delivery task can be determined according to the delivery time of the unmanned vehicle to perform the delivery task and the delivery distance corresponding to the delivery task. For example: the delivery time for the first unmanned device to perform the delivery task is 30 minutes, and the delivery distance is 3 km, then the speed threshold of the first unmanned device is 6 km/h.

进一步，在无人车按照预先规划的路径执行配送任务的过程中，若无人车的运动速度在预设时长内持续小于速度阈值，则确定无人车执行配送任务时出现异常。即，无人车在某时间段内行驶的路径出现异常，导致无人车的运动速度持续小于速度阈值。其中，行驶的路径出现异常可能是交通拥堵、交通事故、修路等情况。Furthermore, in the process of the unmanned vehicle performing the delivery task according to the pre-planned route, if the movement speed of the unmanned vehicle is continuously lower than the speed threshold within the preset time period, it is determined that an abnormality occurs when the unmanned vehicle performs the delivery task. That is, the path of the unmanned vehicle is abnormal within a certain period of time, causing the speed of the unmanned vehicle to continue to be lower than the speed threshold. Among them, the abnormality of the driving path may be caused by traffic jams, traffic accidents, road repairs, and the like.

比如：速度阈值为1km/h，第一无人设备在10：00～10：03之间的运动速度都小于1km/h，这时可以确定第一无人设备在10：00～10：03所行驶的路段可能处于拥堵状态。For example: the speed threshold is 1km/h, and the speed of the first unmanned device is less than 1km/h between 10:00 and 10:03, then it can be determined that the first unmanned device is between 10:00 and 10:03 The road section being driven may be congested.

另外，当无人车的运动速度不存在持续一段时间小于速度阈值时，可以确定预先规划的路径的交通比较通畅，能够准时完成配送任务。In addition, when the movement speed of the unmanned vehicle does not exist for a period of time and is less than the speed threshold, it can be determined that the traffic on the pre-planned path is relatively smooth, and the delivery task can be completed on time.

S104：若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测。S104: If an abnormality occurs when the first unmanned device performs the task, dispatch a second unmanned device to conduct environmental survey.

S106：根据环境勘测的结果，为所述第一无人设备重新规划路径。S106: Re-plan a path for the first unmanned device according to the result of the environmental survey.

在本说明书实施例一中，对于步骤S102中无人车执行配送任务时出现异常的情况，可能会导致无人车配送超时的问题。所以，为避免配送超时的问题，可以更改无人车的行驶路径。In the first embodiment of this specification, when the unmanned vehicle performs the delivery task in step S102, there is an abnormal situation, which may cause the problem of overtime delivery of the unmanned vehicle. Therefore, in order to avoid the problem of overtime delivery, the driving path of the unmanned vehicle can be changed.

具体的，当确定无人车执行配送任务出现异常时，通常可以通过无人车安装的信息采集设备采集无人车周围的环境信息。由于无人车只能采集较小范围的环境信息，所以本说明书中调度不受地面道路交通影响的无人机协助无人车进行环境勘测。换句话说，可以通过无人机扩大采集环境信息的范围。Specifically, when it is determined that there is an abnormality in the execution of the delivery task by the unmanned vehicle, the environmental information around the unmanned vehicle can usually be collected through the information collection equipment installed on the unmanned vehicle. Since unmanned vehicles can only collect environmental information in a small range, in this manual, drones that are not affected by ground road traffic are dispatched to assist unmanned vehicles in environmental surveys. In other words, the scope of collecting environmental information can be expanded by drones.

进一步，在调度无人机时，为提高环境勘测效率，可以先调度无人车当前承载的无人机，通过无人车当前承载的无人机对无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息。其中，道路信息可以指体现道路状况的信息，比如道路图像等。Further, when dispatching UAVs, in order to improve the efficiency of environmental surveys, the UAVs currently carried by the unmanned vehicle can be dispatched first, and the UAVs currently carried by the unmanned vehicle can monitor the first preset range around the unmanned vehicle. The environment conducts environmental surveys to obtain the first road information. Wherein, the road information may refer to information reflecting road conditions, such as road images and the like.

无人车当前承载的无人机可以指停靠在无人车车体内置的停机架上的无人机，也可以指停靠于无人车顶部的停机坪的无人机。如图2A和图2B所示。并且停靠于无人车顶部的无人机可以采用固定架进行固定。The drones currently carried by the unmanned vehicle can refer to the drones parked on the built-in rack of the unmanned vehicle body, or the drones parked on the apron on the top of the unmanned vehicle. As shown in Figure 2A and Figure 2B. And the UAV docked on the top of the unmanned vehicle can be fixed with a fixed frame.

其中，图2A中的无人车具有两个通道，分别为通道1和通道2。图2B中的无人车 车顶具有两个停机坪，分别为停机坪1和停机坪2。Wherein, the unmanned vehicle in Fig. 2A has two channels, which are channel 1 and channel 2 respectively. The roof of the unmanned vehicle in Fig. 2B has two parking pads, namely parking pad 1 and parking pad 2.

当无人机停靠于无人车内部时，无人车可以先与当前承载的无人机建立通信。然后，无人车在开启无人车车顶的通道的同时，将无人机的停机架升起，以便无人机接收到无人车发送的起飞指令后，进行起飞操作。并根据无人车发送的环境勘测指令，在无人车与无人车的通信范围内进行环境勘测。其中，通信范围可以是第一预设范围。When the drone is parked inside the unmanned vehicle, the unmanned vehicle can first establish communication with the currently carrying drone. Then, while the unmanned vehicle opens the channel on the roof of the unmanned vehicle, it raises the hanger of the drone, so that the drone can take off after receiving the take-off command sent by the unmanned vehicle. And according to the environmental survey instruction sent by the unmanned vehicle, the environmental survey is carried out within the communication range between the unmanned vehicle and the unmanned vehicle. Wherein, the communication range may be a first preset range.

当无人机停靠于无人车车顶时，无人车可以先与当前承载的无人机建立通信。然后，无人车松开固定架，并给无人机发送起飞指令和环境勘测指令。无人机接收到起飞指令和环境勘测指令之后，在无人车与无人车的通信范围内进行环境勘测。When the drone is parked on the roof of the unmanned vehicle, the unmanned vehicle can first establish communication with the currently carrying drone. Then, the unmanned vehicle releases the fixing frame, and sends a take-off command and an environmental survey command to the drone. After the UAV receives the take-off command and the environmental survey command, it conducts environmental survey within the communication range between the unmanned vehicle and the unmanned vehicle.

另外，控制无人设备的服务器也可以根据各无人设备的位置，调度无人车当前承载的无人机在第一预设范围内进行环境勘测。In addition, the server controlling the unmanned equipment may also schedule the unmanned aerial vehicle currently carried by the unmanned vehicle to conduct environmental survey within the first preset range according to the location of each unmanned equipment.

根据勘测到的第一道路信息，判断第一道路信息中是否存在可通行的路径信息。当第一道路信息中存在可通行的路径信息时，可以根据可通行的路径以及无人车完成配送任务的最晚时间，为无人车重新规划执行配送任务的可通行且不超时的路径。According to the surveyed first road information, it is judged whether there is passable route information in the first road information. When there is passable path information in the first road information, a passable and non-overtime path for the unmanned vehicle to perform the delivery task can be re-planned according to the passable path and the latest time for the unmanned vehicle to complete the delivery task.

S108：根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务。S108: According to the replanned path, control the first unmanned device to perform the task according to the replanned path.

在本说明书实施例一中，通过上述步骤S106为无人车重新规划路径之后，可以根据重新规划的可通行路径，控制无人车按照重新规划的可通行路径执行配送任务。在后续执行配送任务的过程中，如果再次遇到异常情况，可以先将S100中预先规划的路径更新为S106中重新规划的路径，之后可以重复上述步骤S100至步骤S106再次对路径进行规划，来避免交通拥堵等情况，从而提高无人设备的配送效率。In the first embodiment of this specification, after re-planning the route for the unmanned vehicle through the above step S106, the unmanned vehicle can be controlled to perform the delivery task according to the re-planned traversable route according to the re-planned traversable route. In the subsequent execution of the delivery task, if an abnormal situation is encountered again, the pre-planned path in S100 can be updated to the re-planned path in S106, and then the above-mentioned steps S100 to S106 can be repeated to plan the path again. Avoid situations such as traffic jams, thereby improving the delivery efficiency of unmanned equipment.

通过上述图1所示的方法可见，本说明书在第一无人设备按照预先规划的路径执行任务的过程中，根据监控到的第一无人设备的运动状态，判断第一无人设备执行任务时是否出现异常。若第一无人设备执行任务时出现异常，则调度第二无人设备进行环境勘测。根据勘测结果，可以重新为第一无人设备规划路径，并控制第一无人设备按照重新规划的路径执行任务。在此方法中，当第一无人设备执行任务出现异常时，即，当第一无人设备执行任务遇到交通拥堵等特殊情况时，可以重新为第一无人设备规划可通行的路径。这样就可以提高无人设备的配送效率。It can be seen from the above method shown in Figure 1 that in the process of the first unmanned equipment executing the task according to the pre-planned path, this manual judges the first unmanned equipment to perform the task according to the monitored motion state of the first unmanned equipment. whether an exception occurs. If an abnormality occurs when the first unmanned device performs a task, the second unmanned device is dispatched to conduct environmental survey. According to the survey results, a path can be re-planned for the first unmanned device, and the first unmanned device can be controlled to perform tasks according to the re-planned path. In this method, when the task execution of the first unmanned device is abnormal, that is, when the first unmanned device encounters special circumstances such as traffic congestion during the task execution, the passable path can be re-planned for the first unmanned device. In this way, the delivery efficiency of unmanned equipment can be improved.

进一步的，在图1所示的步骤S104中，除了可以调度无人车当前承载的无人机之外，还可以调度除无人车当前承载的无人机之外的其他无人机。Further, in step S104 shown in FIG. 1 , in addition to the unmanned aerial vehicle currently carried by the unmanned vehicle, other unmanned aerial vehicles other than the unmanned vehicle currently carried by the unmanned vehicle may also be dispatched.

具体的，可以先监控执行其他配送任务的无人机的运动轨迹。然后，根据监控到的运动轨迹，从多个执行其他配送任务的无人机中选择出处于无人车周围第一预设范围内的无人机。并且可以调度处于第一预设范围内的执行其他配送任务的无人机进行环境勘测。Specifically, it is possible to first monitor the trajectory of the UAVs performing other delivery tasks. Then, according to the monitored movement trajectory, the unmanned aerial vehicle within the first preset range around the unmanned vehicle is selected from a plurality of unmanned aerial vehicles performing other distribution tasks. In addition, unmanned aerial vehicles performing other delivery tasks within the first preset range can be dispatched to conduct environmental surveys.

进一步，当无人车周围第一预设范围内存在多个无人机时，可以调度续航时间较长的无人机进行环境勘测。Further, when there are multiple unmanned aerial vehicles within the first preset range around the unmanned vehicle, the unmanned aerial vehicle with a longer battery life can be dispatched to conduct environmental surveys.

在对无人车周围第一预设范围内的环境进行勘测之后，根据勘测到的第一道路信息，判断第一道路信息中是否存在可通行的路径信息。当第一道路信息中不存在可通行的路径信息时，为增大查找到可通行的路径信息的概率，可以再扩大道路信息的采集范围。After surveying the environment within the first preset range around the unmanned vehicle, it is determined whether there is passable route information in the first road information according to the surveyed first road information. When there is no passable route information in the first road information, in order to increase the probability of finding passable route information, the collection range of road information may be further expanded.

具体的，当第一道路信息中不存在可通行的路径信息时，可以调度处于第一预设范围之外的其他无人机对无人车周围第二预设范围内的环境进行勘测，得到第二道路信息。由于扩大了道路信息的采集范围，所以第二预设范围大于第一预设范围。其中，其他无人机可以是空载无人机，也可以是执行其他配送任务的无人机。Specifically, when there is no passable path information in the first road information, other unmanned aerial vehicles outside the first preset range can be dispatched to survey the environment within the second preset range around the unmanned vehicle, obtaining Second road information. Since the collection range of road information is expanded, the second preset range is larger than the first preset range. Among them, other UAVs can be unmanned UAVs, or UAVs that perform other distribution tasks.

而对不同预设范围内的无人机进行调度的场景，如图3所示。在图3中，无人机1为处于第一预设范围内的无人机，并且无人机1可能是无人车当前承载的无人机，也可能是执行其他配送任务的无人机。而无人机2为处于第一预设范围之外的其他无人机。并且无人机2可能为执行其他配送任务的无人机，也可能为空载无人机。The scenario of scheduling UAVs within different preset ranges is shown in Figure 3. In Figure 3, UAV 1 is a UAV within the first preset range, and UAV 1 may be the UAV currently carried by the unmanned vehicle, or it may be a UAV performing other delivery tasks . And UAV 2 is other UAVs outside the first preset range. And UAV 2 may be a UAV performing other delivery tasks, or may be an empty UAV.

进一步，可以先通过控制无人设备的服务器监控所有无人设备(无人机和无人车)的位置，根据无人车的当前位置以及无人机的当前位置，筛选出处于无人车周围第二预设范围内的无人机(包括执行其他配送任务的无人机和空载无人机)。然后，可以调度筛选出的无人机对无人车周围第二预设范围内的环境进行勘测，得到第二道路信息。Further, the location of all unmanned equipment (drones and unmanned vehicles) can be monitored by the server controlling the unmanned equipment, and according to the current position of the unmanned vehicle and the current position of the unmanned vehicle, the unmanned vehicle can be screened out. UAVs within the second preset range (including UAVs performing other delivery tasks and unmanned UAVs). Then, the selected unmanned aerial vehicle can be dispatched to survey the environment within the second preset range around the unmanned vehicle to obtain the second road information.

此外，还可以调度其他无人车对该无人车周围第二预设范围内的环境进行勘测。具体的，针对每个无人车，可以根据该无人车的当前位置和其他无人车的当前位置，筛选出处于该无人车周围第二预设范围内的无人车。然后，调度筛选出的无人车中未执行配送任务的无人车对该无人车周围第二预设范围内的环境进行勘测，得到第二道路信息。In addition, other unmanned vehicles can also be dispatched to survey the environment within the second preset range around the unmanned vehicle. Specifically, for each unmanned vehicle, according to the current position of the unmanned vehicle and the current positions of other unmanned vehicles, the unmanned vehicles within the second preset range around the unmanned vehicle can be screened out. Then, among the selected unmanned vehicles, the unmanned vehicles that have not performed delivery tasks are dispatched to survey the environment within the second preset range around the unmanned vehicles to obtain the second road information.

根据勘测到第二道路信息，判断第二道路信息中是否存在可通行的路径信息。若存在可通行的路径信息，则可以根据可通行的路径与无人车完成配送任务的最晚时间，为无人车重新规划可通行且不超时的路径。此外，当存在多条可通行且不超时的路径时，可以从多条路径中选择耗时最少或配送距离最短的路径。According to the surveyed second road information, it is judged whether there is passable route information in the second road information. If there is passable path information, the passable path without timeout can be re-planned for the unmanned vehicle according to the passable path and the latest time for the unmanned vehicle to complete the delivery task. In addition, when there are multiple traversable paths without timeout, the path with the least time consumption or the shortest delivery distance can be selected from the multiple paths.

若第一道路信息和第二道路信息中都不存在可通行的路径信息，可以调度无人机接替无人车的配送任务。If there is no passable path information in the first road information and the second road information, the unmanned aerial vehicle can be dispatched to take over the delivery task of the unmanned vehicle.

在调度接替无人车配送任务的无人机时，可以调度距离无人车最近的无人机，也可以调度续航时间最长的无人机。When dispatching the drones that take over the delivery tasks of unmanned vehicles, the drones that are closest to the unmanned vehicles can be dispatched, and the drones with the longest battery life can also be dispatched.

具体的，在无人车与指定无人机建立通信之后，无人车可以将自身当前的位置以及配送任务的终点位置发送给指定无人机，指定无人机根据接收到无人车当前的位置，向无人车靠近。无人机可以自主地从无人车上获取配送任务，并对该配送任务进行配送。此外，当无人机无法自主地获取配送任务时，无人车需要向工作人员发送自身当前的位置，以寻求工作人员的帮助。工作人员到达无人车当前的位置之后，将无人车上的配送任务转移到指定无人机上。Specifically, after the unmanned vehicle establishes communication with the designated UAV, the unmanned vehicle can send its current location and the end position of the delivery task to the designated UAV, and the designated UAV will receive the current location of the unmanned vehicle position, approaching the unmanned vehicle. The drone can autonomously obtain the delivery task from the unmanned vehicle and deliver the delivery task. In addition, when the drone cannot autonomously obtain the delivery task, the unmanned vehicle needs to send its current location to the staff to seek help from the staff. After the staff arrives at the current location of the unmanned vehicle, they transfer the delivery task on the unmanned vehicle to the designated drone.

当然，除了无人机可以接替无人车的配送任务之外，也可以由配送员接替无人车的配送任务。Of course, in addition to drones that can take over the delivery tasks of unmanned vehicles, delivery personnel can also take over the delivery tasks of unmanned vehicles.

具体的，针对每个配送员，可以先判断该配送员执行的配送任务中是否存在与无人车执行的配送任务的终点位置相同的配送任务。若只有一个配送员执行的配送任务中存在与无人车执行的配送任务的终点位置相同的配送任务，可以指示该配送员执行无人车的配送任务。若有多个配送员执行的配送任务中存在与无人车执行的配送任务的终点位置相同的配送任务，可以选择多个配送员中离无人车最近的一个配送员执行无人车的配送任务。若所有配送员执行的配送任务中都不存在与无人车执行的配送任务的终点位置相同的配送任务，可以根据配送员的位置、无人车的位置以及配送员的配送量，从多个配送员中选择适合执行无人车的配送任务的配送员。Specifically, for each delivery person, it may first be determined whether there is a delivery task with the same end position as the delivery task performed by the unmanned vehicle among the delivery tasks performed by the delivery person. If there is a delivery task with the same end position as the delivery task performed by the unmanned vehicle among the delivery tasks performed by only one delivery person, the delivery person can be instructed to perform the delivery task of the unmanned vehicle. If there are delivery tasks performed by multiple delivery personnel that have the same delivery task as the end position of the delivery task performed by the unmanned vehicle, you can choose the delivery personnel closest to the unmanned vehicle among the multiple delivery personnel to perform the delivery of the unmanned vehicle Task. If there is no delivery task performed by all the delivery personnel that has the same end position as the delivery task performed by the unmanned vehicle, it can be selected from multiple Among the delivery staff, select the delivery staff who are suitable for carrying out the delivery tasks of unmanned vehicles.

在确定配送员之后，可以将无人车当前的位置发送给指定配送员，配送员到达无人车的位置之后，从无人车中获取配送任务并对该任务进行配送。After the courier is determined, the current location of the unmanned vehicle can be sent to the designated courier. After the courier arrives at the location of the unmanned vehicle, the delivery task can be obtained from the unmanned vehicle and delivered.

在图1所示的步骤S104中，还可以针对每个第一无人设备，在调度该第一无人设备周围的第二无人设备进行环境勘测之后，可以获取该第一无人设备周围的第一道路信息和第二道路信息。然后，根据第一道路信息和第二道路信息，对地图上的环境标识进行实时更新，以便其他第一无人设备进行路径规划。In step S104 shown in FIG. 1 , for each first unmanned device, after dispatching second unmanned devices around the first unmanned device to conduct environmental survey, the surrounding environment of the first unmanned device can be obtained. The first road information and the second road information. Then, according to the first road information and the second road information, the environment identification on the map is updated in real time, so that other first unmanned devices can perform path planning.

在本说明书中，无人车和无人机的协作不仅可以解决实施例一中道路拥堵所带来的配送效率下降的问题，还可以应用到其他场景解决不同的技术问题。例如，在本说明书实施例二中可以通过无人车和无人机的协作，减少无人车的视野盲区，使无人车能够更 加安全地行驶。In this specification, the cooperation of unmanned vehicles and drones can not only solve the problem of reduced delivery efficiency caused by road congestion in the first embodiment, but also can be applied to other scenarios to solve different technical problems. For example, in the second embodiment of this specification, the blind spot of the unmanned vehicle can be reduced through the cooperation of the unmanned vehicle and the drone, so that the unmanned vehicle can drive more safely.

实施例二：Embodiment two:

在本说明书实施例二中，第一无人设备在执行配送任务过程中，可以调度第二无人设备进行交通标识勘测，以确定第一无人设备的控制策略。其中，第一无人设备可以是无人车，第二无人设备可以是无人机。In the second embodiment of this specification, the first unmanned device may dispatch the second unmanned device to conduct traffic sign survey in order to determine the control strategy of the first unmanned device during the delivery task. Wherein, the first unmanned device may be an unmanned vehicle, and the second unmanned device may be a drone.

具体的，可以先根据第一无人设备历史上采集的交通标识数据，在地图上标注出异常的交通标识。根据异常的交通标识的位置以及出现异常的时间段，确定触发条件。其中，交通标识可以是红绿灯、车道线等，异常的交通标识可以是第一无人设备无法准确识别的交通标识，如，逆光下采集的交通标识。Specifically, abnormal traffic signs can be marked on the map according to the traffic sign data collected by the first unmanned device in history. The trigger condition is determined according to the location of the abnormal traffic sign and the time period when the abnormality occurs. Wherein, the traffic signs may be traffic lights, lane lines, etc., and abnormal traffic signs may be traffic signs that cannot be accurately recognized by the first unmanned device, such as traffic signs collected under backlight.

例如：对于某条路段上的某个红绿灯，不同第一无人设备在下午4至5点(处于逆光的情况)经过该红绿灯时采集到的该红绿灯的图像都无法准确识别出红绿灯信息。那么，可以在地图上对此处的红绿灯标注为异常红绿灯并关联时间段。For example: for a certain traffic light on a certain road section, the images of the traffic light collected by different first unmanned devices when passing the traffic light at 4 to 5 pm (in the case of backlighting) cannot accurately identify the traffic light information. Then, the traffic lights here can be marked as abnormal traffic lights on the map and associated with the time period.

当第一无人设备执行配送任务时，可以根据第一无人设备的当前位置以及当前时刻，判断是否满足触发条件。即，第一无人设备是否处于异常的交通标识的第三预设范围和/或第一无人设备当前时刻是否处于预设时间段内。若满足触发条件，调度第二无人设备对处于第一无人设备周围第三预设范围内的交通标识进行勘测。将第二无人设备勘测的结果发送给第一无人设备或控制无人设备的服务器，然后，第一无人设备或控制无人设备的服务器根据勘测的结果，确定第一无人设备的控制策略，并采用确定出的控制策略控制第一无人设备。其中，控制策略可包括：直行、左转、右转、加速、减速等。When the first unmanned device executes the delivery task, it can be judged whether the trigger condition is satisfied according to the current location and the current time of the first unmanned device. That is, whether the first unmanned device is within the third preset range of the abnormal traffic sign and/or whether the first unmanned device is within the preset time period at the current moment. If the trigger condition is met, the second unmanned device is dispatched to survey the traffic signs within the third preset range around the first unmanned device. Send the survey result of the second unmanned device to the first unmanned device or the server controlling the unmanned device, then, the first unmanned device or the server controlling the unmanned device determines the control strategy, and adopt the determined control strategy to control the first unmanned device. Wherein, the control strategy may include: going straight, turning left, turning right, accelerating, decelerating, etc.

以红绿灯为例，当无人车的位置与标注异常的红绿灯的位置之间的距离满足第三预设范围并且无人车的当前时刻处于红绿灯出现异常的时间段内，可以调度无人机对标注异常的红绿灯进行勘测。根据红绿灯的状态，控制无人车运动。Taking traffic lights as an example, when the distance between the position of the unmanned vehicle and the position of the abnormal traffic light satisfies the third preset range and the current moment of the unmanned vehicle is within the time period when the traffic light is abnormal, the drone can be dispatched. Anomaly traffic lights are marked for survey. According to the status of traffic lights, control the movement of unmanned vehicles.

另外，还可以根据交通标识是否存在遮挡，确定触发条件。具体的，在第一无人设备执行配送任务过程中，可以根据第一无人设备安装的信息采集设备采集到的环境信息，判断第一无人设备周围第三预设范围内的交通标识是否存在遮挡的现象。若存在遮挡的现象(即满足触发条件)，可以调度第二无人设备对第一无人设备周围第三预设范围内的交通标识进行勘测。将第二无人设备勘测的结果发送给第一无人设备或控制无人设备的服务器，然后，第一无人设备或控制无人设备的服务器根据勘测的结果，确定第一无人设备的控制策略，并采用确定出的控制策略控制第一无人设备。In addition, the trigger condition can also be determined according to whether the traffic sign is blocked. Specifically, when the first unmanned device is performing the delivery task, it can be judged whether the traffic signs within the third preset range around the first unmanned device are There is a phenomenon of occlusion. If there is an occlusion phenomenon (that is, the trigger condition is met), the second unmanned device may be dispatched to survey traffic signs within a third preset range around the first unmanned device. Send the survey result of the second unmanned device to the first unmanned device or the server controlling the unmanned device, then, the first unmanned device or the server controlling the unmanned device determines the control strategy, and adopt the determined control strategy to control the first unmanned device.

以上为本说明书实施例提供的无人设备控制方法，基于同样的思路，本说明书还提供了相应的装置、存储介质和电子设备。The above is the unmanned equipment control method provided by the embodiment of this specification. Based on the same idea, this specification also provides corresponding devices, storage media and electronic equipment.

图4为本说明书实施例提供的一种无人设备控制装置的结构示意图，所述装置包括：Fig. 4 is a schematic structural diagram of an unmanned equipment control device provided by the embodiment of this specification, the device includes:

监控模块401，用于监控第一无人设备按照预先规划的路径执行任务时的运动状态；A monitoring module 401, configured to monitor the motion state of the first unmanned device when performing tasks according to a pre-planned path;

判断模块402，用于根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常；A judging module 402, configured to judge whether an abnormality occurs when the first unmanned device performs the task according to the motion state;

调度模块403，用于若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测；A dispatching module 403, configured to dispatch a second unmanned device to conduct environmental surveys if an abnormality occurs when the first unmanned device performs the task;

重新规划路径模块404，用于根据环境勘测的结果，为所述第一无人设备重新规划路径；A re-planning path module 404, configured to re-plan a path for the first unmanned device according to the results of the environmental survey;

控制模块405，用于根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务。The control module 405 is configured to control the first unmanned device to perform the task according to the replanned path according to the replanned path.

可选地，所述第一无人设备包括：无人车；所述第二无人设备包括：无人机。Optionally, the first unmanned equipment includes: an unmanned vehicle; the second unmanned equipment includes: a drone.

可选地，所述监控模块401还用于，根据所述无人车采集的历史交通标识数据，在地图上标出异常的交通标识并确定出现异常的时间段。Optionally, the monitoring module 401 is further configured to, according to the historical traffic sign data collected by the unmanned vehicle, mark the abnormal traffic sign on the map and determine the time period when the abnormality occurs.

可选地，所述判断模块402具体用于，根据所述第一无人设备的运动速度，判断所述第一无人设备执行所述任务时是否出现异常；若所述第一无人设备的运动速度在预设时长内持续小于速度阈值，确定所述第一无人设备执行所述任务时出现异常。Optionally, the judging module 402 is specifically configured to judge whether an abnormality occurs when the first unmanned device performs the task according to the movement speed of the first unmanned device; if the first unmanned device If the movement speed of the first unmanned device is continuously lower than the speed threshold within a preset time period, it is determined that an abnormality occurs when the first unmanned device performs the task.

可选地，所述判断模块402还用于，根据所述第一无人设备的当前位置，判断是否满足触发条件。Optionally, the judging module 402 is further configured to judge whether a trigger condition is met according to the current location of the first unmanned device.

可选地，所述调度模块403具体用于，监控执行其他配送任务的第二无人设备的运动轨迹；根据所述运动轨迹以及所述第一无人设备周围第一预设范围，调度所述第一预设范围内的第二无人设备进行环境勘测。Optionally, the scheduling module 403 is specifically configured to monitor the trajectory of the second unmanned device performing other delivery tasks; according to the trajectory and the first preset range around the first unmanned device, schedule the The second unmanned equipment within the first preset range performs environmental survey.

可选地，所述无人机包括：所述无人车当前承载的无人机。Optionally, the unmanned aerial vehicle includes: an unmanned aerial vehicle currently carried by the unmanned vehicle.

可选地，所述调度模块403具体用于，调度所述无人车当前承载的无人机对所述无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息。Optionally, the scheduling module 403 is specifically configured to schedule an unmanned aerial vehicle currently carried by the unmanned vehicle to conduct an environmental survey on the environment within a first preset range around the unmanned vehicle to obtain first road information.

可选地，所述无人机还包括：除所述无人车当前承载的无人机之外的其他无人机。Optionally, the unmanned aerial vehicle further includes: other unmanned aerial vehicles other than the unmanned aerial vehicle currently carried by the unmanned vehicle.

可选地，所述调度模块403还用于，若所述第一道路信息中不存在可通行的路径信息，调度所述其他无人机对所述无人车周围第二预设范围内的环境进行环境勘测，得到第二道路信息；其中，所述第二预设范围大于所述第一预设范围。Optionally, the dispatching module 403 is further configured to, if there is no passable route information in the first road information, dispatch the other unmanned aerial vehicles to the second preset range around the unmanned vehicle. The environment conducts environmental survey to obtain second road information; wherein, the second preset range is larger than the first preset range.

可选地，所述调度模块403还用于，若所述第二道路信息中不存在可通行的路径信息，调度所述无人机执行所述任务。Optionally, the scheduling module 403 is further configured to, if there is no passable path information in the second road information, schedule the UAV to execute the task.

可选地，所述调度模块403还用于，若满足触发条件，调度所述第二无人设备对处于所述当前位置周围第三预设范围内的交通标识进行勘测；Optionally, the scheduling module 403 is further configured to, if the trigger condition is met, scheduling the second unmanned device to survey traffic signs within a third preset range around the current location;

可选地，所述控制模块405还用于，根据勘测的结果，确定所述第一无人设备的控制策略，并采用确定出的控制策略控制所述第一无人设备。Optionally, the control module 405 is further configured to, according to the survey result, determine a control strategy of the first unmanned device, and use the determined control strategy to control the first unmanned device.

本说明书还提供了一种计算机可读存储介质，所述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可用于执行上述图1提供的无人设备控制方法。This specification also provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, it can be used to execute the above-mentioned unmanned equipment control method provided in FIG. 1 .

基于图1所示的无人设备控制方法，本说明书实施例还提供了图5所示的电子设备的结构示意图。如图5，在硬件层面，该电子设备包括处理器、内部总线、网络接口、内存以及非易失性存储器，当然还可能包括其他业务所需要的硬件。处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，以实现上述图1所述的无人设备控制方法。Based on the unmanned device control method shown in FIG. 1 , the embodiment of this specification also provides a schematic structural diagram of the electronic device shown in FIG. 5 . As shown in Figure 5, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required by other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, so as to realize the unmanned equipment control method described in FIG. 1 above.

当然，除了软件实现方式之外，本说明书并不排除其他实现方式，比如逻辑器件抑或软硬件结合的方式等等，也就是说以下处理流程的执行主体并不限定于各个逻辑单元，也可以是硬件或逻辑器件。Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or the combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic device.

在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device,PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字***“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电 路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language)等，目前最普遍使用的是VHDL(Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。In the 1990s, the improvement of a technology can be clearly distinguished as an improvement in hardware (for example, improvements in circuit structures such as diodes, transistors, and switches) or improvements in software (improvement in method flow). However, with the development of technology, the improvement of many current method flows can be regarded as the direct improvement of the hardware circuit structure. Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware physical modules. For example, a programmable logic device (Programmable Logic Device, PLD) (such as a field programmable gate array (Field Programmable Gate Array, FPGA)) is such an integrated circuit, the logic function of which is determined by the user's programming of the device. It is programmed by the designer to "integrate" a digital system on a PLD, instead of asking a chip manufacturer to design and make a dedicated integrated circuit chip. Moreover, nowadays, instead of making integrated circuit chips by hand, this kind of programming is mostly realized by "logic compiler (logic compiler)" software, which is similar to the software compiler used when program development and writing, but before compiling The original code of the computer must also be written in a specific programming language, which is called a hardware description language (Hardware Description Language, HDL), and there is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., are currently the most commonly used The most popular are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that only a little logical programming of the method flow in the above-mentioned hardware description languages and programming into an integrated circuit can easily obtain a hardware circuit for realizing the logic method flow.

控制器可以按任何适当的方式实现，例如，控制器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式，控制器的例子包括但不限于以下微控制器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器控制器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知道，除了以纯计算机可读程序代码方式实现控制器以外，完全可以通过将方法步骤进行逻辑编程来使得控制器以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器等的形式来实现相同功能。因此这种控制器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。The controller may be implemented in any suitable way, for example the controller may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that, in addition to realizing the controller in a purely computer-readable program code mode, it is entirely possible to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as structures within the hardware component. Or even, means for realizing various functions can be regarded as a structure within both a software module realizing a method and a hardware component.

上述实施例阐明的***、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。The systems, devices, modules, or units described in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementing device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Combinations of any of these devices.

为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本说明书时可以把各单元的功能在同一个或多个软件和/或硬件中实现。For the convenience of description, when describing the above devices, functions are divided into various units and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in one or more pieces of software and/or hardware.

本领域内的技术人员应明白，本说明书的实施例可提供为方法、***、或计算机程序产品。因此，本说明书可采用完全硬件实施例、完全软件实施例、或结合软件和硬 件方面的实施例的形式。而且，本说明书可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of this specification may be provided as methods, systems, or computer program products. Accordingly, this description may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

本说明书是参照根据本说明书实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The specification is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the specification. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存 储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

本领域技术人员应明白，本说明书的实施例可提供为方法、***或计算机程序产品。因此，本说明书可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本说明书可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of this specification may be provided as methods, systems or computer program products. Accordingly, this description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

本说明书可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。The specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present description may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于***实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiment.

以上所述仅为本说明书的实施例而已，并不用于限制本说明书。对于本领域技术人员来说，本说明书可以有各种更改和变化。凡在本说明书的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本说明书的权利要求范围之内。The above descriptions are only examples of this specification, and are not intended to limit this specification. For those skilled in the art, various modifications and changes may occur in this description. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of the claims of this specification.

Claims (12)

1. 一种无人设备控制方法，包括：A control method for unmanned equipment, comprising:

   监控第一无人设备按照预先规划的路径执行任务时的运动状态，所述第一无人设备包括：无人车；Monitoring the motion state of the first unmanned device when performing tasks according to a pre-planned path, the first unmanned device includes: an unmanned vehicle;

   根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常；According to the motion state, it is judged whether abnormality occurs when the first unmanned device performs the task;

   若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测，所述第二无人设备包括：无人机；其中，所述无人机包括：所述无人车当前承载的无人机和除所述无人车当前承载的无人机之外的其他无人机；If an abnormality occurs when the first unmanned device performs the task, dispatch the second unmanned device to conduct environmental survey, the second unmanned device includes: unmanned aerial vehicle; wherein, the unmanned aerial vehicle includes: the The drone currently carried by the unmanned vehicle and other drones other than the drone currently carried by the unmanned vehicle;

   根据环境勘测的结果，为所述第一无人设备重新规划路径；According to the result of the environmental survey, re-plan the route for the first unmanned device;

   根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务；According to the replanned path, controlling the first unmanned device to perform the task according to the replanned path;

   其中，调度所述第二无人设备进行环境勘测，包括：Wherein, dispatching the second unmanned equipment to conduct environmental survey includes:

   调度所述无人车当前承载的无人机对所述无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息；Scheduling the unmanned vehicle currently carried by the unmanned vehicle to conduct environmental surveys on the environment within the first preset range around the unmanned vehicle to obtain first road information;

   若所述第一道路信息中不存在可通行的路径信息，调度所述其他无人机对所述无人车周围第二预设范围内的环境进行环境勘测，得到第二道路信息；其中，所述第二预设范围大于所述第一预设范围；If there is no passable path information in the first road information, dispatch the other unmanned aerial vehicles to conduct environmental surveys on the environment within the second preset range around the unmanned vehicle to obtain second road information; wherein, The second predetermined range is greater than the first predetermined range;

   若所述第二道路信息中不存在可通行的路径信息，调度所述无人机执行所述任务。If there is no passable path information in the second road information, dispatch the UAV to execute the task.
2. 如权利要求1所述的方法，其特征在于，根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常，包括：The method according to claim 1, wherein, according to the motion state, judging whether an abnormality occurs when the first unmanned device performs the task includes:

   根据所述第一无人设备的运动速度，判断所述第一无人设备执行所述任务时是否出现异常；According to the movement speed of the first unmanned equipment, it is judged whether abnormality occurs when the first unmanned equipment performs the task;

   若所述第一无人设备的运动速度在预设时长内持续小于速度阈值，确定所述第一无人设备执行所述任务时出现异常。If the movement speed of the first unmanned device is continuously lower than a speed threshold within a preset time period, it is determined that an abnormality occurs when the first unmanned device performs the task.
3. 如权利要求1所述的方法，其特征在于，调度所述第二无人设备进行环境勘测，包括：The method according to claim 1, wherein scheduling the second unmanned device to conduct environmental surveys comprises:

   监控所述其他无人机的运动轨迹；monitoring the movement trajectory of said other drones;

   根据所述运动轨迹以及所述第一无人设备周围的第一预设范围，调度所述其他无人机中距离所述第一无人设备的距离在所述第一预设范围内的无人机进行环境勘测。According to the movement trajectory and the first preset range around the first unmanned device, dispatch the drones whose distance from the first unmanned device is within the first preset range among the other drones. Human-machine surveys the environment.
4. 如权利要求1所述的方法，还包括：The method of claim 1, further comprising:

   根据所述第一无人设备采集的历史交通标识数据，在地图上标出异常的交通标识并 确定出现异常的时间段；According to the historical traffic sign data collected by the first unmanned device, mark the abnormal traffic sign on the map and determine the time period when the abnormality occurs;

   根据所述第一无人设备的当前位置，判断所述第一无人设备的位置与所述异常的交通标识的位置是否处于第三预设范围内和/或所述第一无人设备当前时刻是否处于所述出现异常的时间段；According to the current position of the first unmanned device, it is judged whether the position of the first unmanned device and the position of the abnormal traffic sign are within a third preset range and/or the current position of the first unmanned device is Whether the time is in the time period when the abnormality occurs;

   响应于所述第一无人设备的位置与所述异常的交通标识的位置处于所述第三预设范围内和/或所述第一无人设备当前时刻处于所述出现异常的时间段，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；In response to the position of the first unmanned device and the position of the abnormal traffic sign being within the third preset range and/or the current moment of the first unmanned device being within the abnormal time period, Scheduling the second unmanned device to survey traffic signs within a third preset range around the first unmanned device;

   根据勘测的结果，确定所述第一无人设备的控制策略；Determine a control strategy for the first unmanned device according to the results of the survey;

   采用确定出的控制策略控制所述第一无人设备。The first unmanned device is controlled by using the determined control strategy.
5. 如权利要求1所述的方法，还包括：The method of claim 1, further comprising:

   在所述第一无人设备执行所述任务的过程中，根据所述第一无人设备上安装的信息设备采集到的环境信息，判断所述第一无人设备周围第三预设范围内的交通标识是否存在遮挡；During the process of the first unmanned device performing the task, according to the environmental information collected by the information equipment installed on the first unmanned device, it is determined that the first unmanned device is within a third preset range Whether the traffic sign is blocked;

   响应于所述第一无人设备周围第三预设范围内的交通标识存在遮挡，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；In response to occlusion of traffic signs within a third preset range around the first unmanned device, scheduling the second unmanned device to survey traffic signs within a third preset range around the first unmanned device ;

   根据勘测的结果，确定所述第一无人设备的控制策略；Determine a control strategy for the first unmanned device according to the results of the survey;

   采用确定出的控制策略控制所述第一无人设备。The first unmanned device is controlled by using the determined control strategy.
6. 一种无人设备控制装置，包括：A control device for unmanned equipment, comprising:

   监控模块，用于监控第一无人设备按照预先规划的路径执行任务时的运动状态，所述第一无人设备包括：无人车；The monitoring module is used to monitor the movement state of the first unmanned equipment when performing tasks according to the pre-planned path, and the first unmanned equipment includes: unmanned vehicle;

   判断模块，用于根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常；A judging module, configured to judge whether an abnormality occurs when the first unmanned device performs the task according to the motion state;

   调度模块，用于若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测，所述第二无人设备包括：无人机；其中，所述无人机包括：所述无人车当前承载的无人机和除所述无人车当前承载的无人机之外的其他无人机；A dispatching module, configured to dispatch a second unmanned device to conduct environmental surveys if an abnormality occurs when the first unmanned device performs the task, and the second unmanned device includes: a drone; wherein the unmanned The aircraft includes: the unmanned aerial vehicle currently carried by the unmanned vehicle and other unmanned aerial vehicles except the unmanned aerial vehicle currently carried by the unmanned vehicle;

   重新规划路径模块，用于根据环境勘测的结果，为所述第一无人设备重新规划路径；A re-planning path module, configured to re-plan a path for the first unmanned device according to the results of the environmental survey;

   控制模块，用于根据重新规划的路径，控制所述第一无人设备按照重新规划的路径执行所述任务；A control module, configured to control the first unmanned device to perform the task according to the replanned path according to the replanned path;

   所述调度模块，具体用于调度所述无人车当前承载的无人机对所述无人车周围第一预设范围内的环境进行环境勘测，得到第一道路信息；若所述第一道路信息中不存在可通行的路径信息，调度所述其他无人机对所述无人车周围第二预设范围内的环境进行环 境勘测，得到第二道路信息；其中，所述第二预设范围大于所述第一预设范围；若所述第二道路信息中不存在可通行的路径信息，调度所述无人机执行所述任务。The scheduling module is specifically used to schedule the unmanned vehicle currently carried by the unmanned vehicle to conduct environmental surveys on the environment within the first preset range around the unmanned vehicle to obtain first road information; if the first There is no passable path information in the road information, and the other unmanned aerial vehicles are dispatched to conduct environmental surveys on the environment within the second preset range around the unmanned vehicle to obtain second road information; wherein, the second preset The range is set to be greater than the first preset range; if there is no passable path information in the second road information, the UAV is scheduled to perform the task.
7. 如权利要求6所述装置，其特征在于，所述判断模块，在用于根据所述运动状态，判断所述第一无人设备执行所述任务时是否出现异常时，包括：The device according to claim 6, wherein the judging module, when used to judge whether an abnormality occurs when the first unmanned device performs the task according to the motion state, includes:

   根据所述第一无人设备的运动速度，判断所述第一无人设备执行所述任务时是否出现异常；According to the movement speed of the first unmanned equipment, it is judged whether abnormality occurs when the first unmanned equipment performs the task;

   若所述第一无人设备的运动速度在预设时长内持续小于速度阈值，确定所述第一无人设备执行所述任务时出现异常。If the movement speed of the first unmanned device is continuously lower than a speed threshold within a preset time period, it is determined that an abnormality occurs when the first unmanned device performs the task.
8. 如权利要求6所述装置，其特征在于，所述调度模块，在用于若所述第一无人设备执行所述任务时出现异常，调度第二无人设备进行环境勘测时，包括：The device according to claim 6, characterized in that, when the scheduling module is used to dispatch the second unmanned equipment to conduct environmental survey if an abnormality occurs when the first unmanned equipment performs the task, it includes:

   监控所述其他无人机的运动轨迹；monitoring the movement trajectory of said other drones;

   根据所述运动轨迹以及所述第一无人设备周围的第一预设范围，调度所述其他无人机中距离所述第一无人设备的距离在所述第一预设范围内的无人机进行环境勘测。According to the movement trajectory and the first preset range around the first unmanned device, dispatch the drones whose distance from the first unmanned device is within the first preset range among the other drones. Human-machine surveys the environment.
9. 如权利要求6所述装置，其特征在于，The device according to claim 6, characterized in that,

   所述监控模块，还用于根据所述第一无人设备采集的历史交通标识数据，在地图上标出异常的交通标识并确定出现异常的时间段；The monitoring module is also used to mark abnormal traffic signs on the map and determine the abnormal time period according to the historical traffic sign data collected by the first unmanned device;

   所述判断模块，还用于根据所述第一无人设备的当前位置，判断所述第一无人设备的位置与所述异常的交通标识的位置是否处于第三预设范围内和/或所述第一无人设备当前时刻是否处于所述出现异常的时间段；The judging module is further configured to judge whether the position of the first unmanned device and the position of the abnormal traffic sign are within a third preset range and/or according to the current position of the first unmanned device Whether the current moment of the first unmanned device is in the abnormal time period;

   所述调度模块，还用于响应于所述第一无人设备的位置与所述异常的交通标识的位置处于所述第三预设范围内和/或所述第一无人设备当前时刻处于所述出现异常的时间段，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进行勘测；The scheduling module is further configured to respond to the fact that the position of the first unmanned device and the position of the abnormal traffic sign are within the third preset range and/or that the first unmanned device is currently in During the time period when the abnormality occurs, schedule the second unmanned device to survey traffic signs within a third preset range around the first unmanned device;

   所述控制模块，还用于根据勘测的结果，确定所述第一无人设备的控制策略，采用确定出的控制策略控制所述第一无人设备。The control module is further configured to determine a control strategy of the first unmanned device according to the survey results, and control the first unmanned device by using the determined control strategy.
10. 如权利要求6所述装置，其特征在于，The device according to claim 6, characterized in that,

    所述判断模块，还用于在所述第一无人设备执行所述任务的过程中，根据所述第一无人设备上安装的信息设备采集到的环境信息，判断所述第一无人设备周围第三预设范围内的交通标识是否存在遮挡；The judging module is further configured to judge that the first unmanned device Whether the traffic signs within the third preset range around the device are blocked;

    所述调度模块，还用于响应于所述第一无人设备周围第三预设范围内的交通标识存在遮挡，调度所述第二无人设备对所述第一无人设备周围第三预设范围内的交通标识进 行勘测；The dispatching module is further configured to dispatch the second unmanned device to conduct a third preset operation around the first unmanned device in response to occlusion of traffic signs within a third preset range around the first unmanned device. Survey the traffic signs within the set range;

    所述控制模块，还用于根据勘测的结果，确定所述第一无人设备的控制策略，采用确定出的控制策略控制所述无人车。The control module is further configured to determine a control strategy of the first unmanned device according to the survey results, and control the unmanned vehicle by using the determined control strategy.
11. 一种计算机可读存储介质，所述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实现上述权利要求1至5任一项所述的方法。A computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 5 is realized.
12. 一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述权利要求1至5任一项所述的方法。An electronic device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor implementing the method described in any one of claims 1 to 5 when executing the program.

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