WO2023040986A1 - Procédé et appareil de gestion de tâches d'engin volant sans pilote embarqué, dispositif et support de stockage - Google Patents

Procédé et appareil de gestion de tâches d'engin volant sans pilote embarqué, dispositif et support de stockage Download PDF

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Publication number
WO2023040986A1
WO2023040986A1 PCT/CN2022/119127 CN2022119127W WO2023040986A1 WO 2023040986 A1 WO2023040986 A1 WO 2023040986A1 CN 2022119127 W CN2022119127 W CN 2022119127W WO 2023040986 A1 WO2023040986 A1 WO 2023040986A1
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task
execution
information
online
uav
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PCT/CN2022/119127
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English (en)
Chinese (zh)
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冯银华
冷杰
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023040986A1 publication Critical patent/WO2023040986A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • Embodiments of the present invention relate to the technical field of UAV control, and in particular, to a method, device, equipment and storage medium for managing UAV missions.
  • the tasks performed by the UAV are sent to the aircraft for execution in a one-to-one manner.
  • the task can only be sent to the UAV device connected to the mobile phone.
  • export the KML/KMZ file format import it to the application software side through the mobile phone/tablet software, and then send it to the drone device by the application software to execute the corresponding route task.
  • the delivery speed of drone tasks is slow, which affects the coordination of multiple drones performing the same task.
  • the present invention provides a UAV task management method, device, equipment and storage medium to achieve the effect of improving the speed of issuing tasks and the coordination of executing tasks.
  • an embodiment of the present invention provides a method for managing a UAV task, including:
  • the task information of generating the UAV according to the data configured by the user includes:
  • the task execution area is divided into routes according to the task type and the preset number of the UAVs, and at least one piece of route information is generated.
  • the task execution type includes pilot execution and machine nest execution
  • the task execution mode includes immediate execution and periodic execution; when the task execution mode is periodic execution, the execution parameters include at least execution cycle parameters and execution time;
  • the task information of the drone is generated according to the route information, the task execution type, the online drone, the task execution mode and execution parameters.
  • sending the task information to a preset number of online drones includes:
  • the corresponding receiving device Obtain the corresponding receiving device according to the default task execution type of the system and the online drone; if the task execution type is pilot execution, the receiving device is a remote controller connected to the online drone; if the task execution type is machine nest execution, the receiving device is the machine nest body connected to the online drone;
  • the task information is automatically sent to a corresponding preset number of receiving devices, and the receiving device forwards the task information to the online unmanned aerial vehicle connected thereto.
  • the automatically sending the task information to a corresponding preset number of receiving devices, and the receiving device forwards the task information to the online drone connected thereto further comprising:
  • the updated task information is sent to a preset number of receiving devices corresponding to the online drone selected by the user, and the receiving device forwards the task information to the connected online drone.
  • the real-time data returned when the online UAV executes the task information is acquired and displayed.
  • the online UAV executes the task information
  • the present invention also provides a UAV task management device, including:
  • the task acquisition module is used to generate the task information of the drone according to the data configured by the user;
  • a task delivery module configured to deliver the task information to a preset number of online drones
  • the task display module is used to display the task information and task delivery status by task type.
  • the present invention also provides a UAV task management device, the UAV task management device comprising:
  • processors one or more processors
  • the one or more processors are made to implement the UAV task management method according to any one of claims 1-7.
  • the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the UAV task management method as described in any one of the first aspects is implemented.
  • the task information of the drone is generated according to the data configured by the user, and the task information is sent to a preset number of online drones; the real-time data returned when the online drone performs the first task is obtained data and display it.
  • the sending task is slow, and the problem that the user cannot view multiple route tasks at the same time, and realize the simultaneous delivery of tasks to multiple UAVs , multiple UAVs cooperate to execute the same task at the same time, and display the task information of multiple routes at the same time, so as to improve the speed of issuing tasks and the coordination of task execution.
  • FIG. 1 is a schematic flow diagram of a method for managing a UAV mission provided by Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of sending mission information in a UAV mission management method provided by Embodiment 1 of the present invention
  • Embodiment 3 is a schematic diagram of task information delivery in another UAV task management method provided by Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of displaying task information in a UAV task management method provided in Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of displaying flight data in a UAV task management method provided in Embodiment 1 of the present invention.
  • FIG. 6 is a schematic flow diagram of another UAV task management method provided by Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle task management device provided in Embodiment 2 of the present invention.
  • FIG. 8 is a schematic structural diagram of a UAV task management device provided by Embodiment 3 of the present invention.
  • FIG. 1 is a schematic flowchart of a UAV task management method provided in Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of task delivery in a UAV task management method provided in Embodiment 1 of the present invention.
  • This embodiment is applicable to the situation where the UAV command center connects and controls at least one UAV, and performs task management on the UAV.
  • the method can be performed by the UAV task management device, and specifically includes the following steps:
  • Step 110 generating task information of the drone according to the data configured by the user.
  • the UAV command center is connected to control at least one UAV.
  • the UAV can be set in a fixed nest body, and can also be carried by the pilot to any place, and can be released and controlled by the remote control.
  • the tasks of UAVs can be divided into route tasks such as waypoints/polygons/rectangles.
  • the number of UAVs performing tasks can divide UAV tasks into single-machine tasks and multi-machine tasks.
  • the task information of the drone is generated according to the task type, task area and preset number of drones configured by the user.
  • Step 110 specifically includes:
  • Step 111 obtaining the task type, task execution area and preset number of drones selected by the user.
  • Step 112 divide the task execution area into routes according to the task type and the preset number of the drones, and generate at least one route information.
  • Users can delineate the task execution area on the electronic map interface, select the task type and the preset number of UAVs through the system's preset options, and divide the mission execution area according to the task type and the preset number of UAVs , generate at least one piece of route information, and when dividing the route, try to ensure that the route distance of each drone is equivalent. For example, when dividing the route, the task execution area is equally divided according to the preset number. When multiple drones cooperate to perform tasks, they can complete tasks as soon as possible, reduce task execution time, and improve task execution efficiency.
  • the preset number is at least 1, and the preset number is smaller than the number of currently idle drones.
  • the user can also manually select multiple waypoints such as waypoint 1, waypoint 2, and waypoint 3 on the electronic map, call the route algorithm library packaged by Autel SDK and combine the preset number of drones , to generate route information that the UAV needs to execute.
  • step 110 also includes:
  • Step 113 obtain the system default task execution type and online drone; the task execution type includes pilot execution and machine nest execution.
  • Step 114 Obtain system default task execution mode and execution parameters; the task execution mode includes immediate execution and periodic execution; when the task execution mode is periodic execution, the execution parameters include at least execution cycle parameters and execution time.
  • Step 115 generating task information of the drone according to the route information, the task execution type, the online drone, the task execution mode and execution parameters.
  • the flight mission of the UAV is not directly sent to the online UAV, but the server first sends the task information to the receiving device corresponding to the online UAV, such as the remote control or the machine nest body, and then the remote control and the machine nest Ontology forwards mission information to connected online drones.
  • the nest has the ability to monitor and control the flight and mission of the UAV, including a set of equipment for the launch and recovery control of the UAV.
  • the nest body is fixed; the remote control is controlled by the remote control unit on the ground or on the air platform.
  • the airborne flight control system is a device for controlling the drone, and an exemplary remote controller is an operating handle for the drone. Combining task execution types to generate task information can improve task execution efficiency.
  • the task execution area A when the task execution area A is designated to carry out a patrol mission whose mission type is a polygonal route flight, if the mission execution area A has at least one fixed nest body and unmanned aerial vehicle, then the default task execution type of the system is Nest execution, obtain the number of online drones in the task execution area A and the location information of the distribution, divide the task execution area A into routes according to the position information of the online drones, and generate at least one route task.
  • the pilot needs to manually release the UAV, and the mission execution type is pilot execution, then it is calculated according to the number of online UAVs and the route algorithm Find the optimal waypoint position and generate at least one route information.
  • the online drones are drones that are connected to the Internet and idle.
  • the flight task execution mode of the UAV can be immediate execution and periodic execution. Among them, after the immediate execution is the task issued, the UAV immediately executes the flight task and only executes it once, and does not automatically repeat the execution; the periodic execution includes automatic cycle Executing a flight mission and delaying the execution of a flight mission. Further, when the mission execution mode is periodic execution, the execution parameters include at least an execution cycle parameter and an execution time. Generate complete UAV mission information based on route information, mission execution type, online UAV, mission execution method and execution parameters.
  • the same mission can be performed by the same UAV in different time periods.
  • the execution time the flight mission can be flexibly issued in advance, and the UAV completes the flight mission at a fixed point and time.
  • the same route task can be executed successively by different UAVs in different time periods.
  • S3 is executed successively by three different UAVs respectively. After the first UAV executes the route S1, the second UAV starts to execute the route S2, and so on, and the cycle is performed according to the set cycle parameters Execution; different UAVs can also alternately execute route tasks according to periodic parameters in different time periods.
  • the date when the date is an odd number, it will be executed by the first UAV, and when the date is an even number , is executed by the second UAV, or the route task S is split into route S1, route S2 and route S3, and when the date is odd, it is executed successively by the first, second and third UAVs, When the date is an even number, the second, third, and fourth UAVs will continue to execute or the fourth, fifth, and sixth UAVs will continue to execute.
  • Personalize settings according to user needs or automatically set the cycle parameters and execution time of UAV tasks through the UAV control system, realize the flexible call of UAVs in idle state, realize the cooperation of multiple UAVs, and improve the efficiency of UAVs. usage efficiency.
  • Step 120 sending the task information to a preset number of online drones.
  • the task information needs to be sent to the receiving device corresponding to the online drone, for example, the remote control or the machine nest body, and then the remote control and the machine nest body will send the task information
  • the information is forwarded to the online drone it is connected to.
  • the task information can be automatically issued by the UAV command center, or manually issued by the user according to the demand.
  • step 120 When automatically delivering task information, step 120 includes:
  • Step 121 Obtain the corresponding receiving device according to the default task execution type of the system and the online UAV; if the task execution type is pilot execution, the receiving device is a remote controller connected to the online UAV; If the execution type is nest execution, the receiving device is the nest body connected to the online drone.
  • Step 122 automatically send the task information to a corresponding preset number of receiving devices, and the receiving devices forward the task information to the connected online drones.
  • the system After the task information is generated, the system automatically selects the online UAV that meets the task execution type, obtains the corresponding receiving device according to the task execution type and the online UAV, and the system automatically sends the task to the receiving device.
  • task execution area A performs a task of patrolling type
  • the preset number of online drones will be automatically selected according to the task information, and the preset number of online drones corresponding to The Nest body issues task information, and then the Nest body forwards the task information to the online drones connected to it; if the default task execution type of the system is pilot execution, it will automatically transfer to the preset number of online drones.
  • the corresponding remote control sends task information, and then the remote control forwards the task information to the connected online drone.
  • step 120 includes:
  • Step 123 according to the task execution type selected by the user, display the corresponding online drone.
  • Step 124 update the task information of the drone according to the task execution type selected by the user, the online drone, the task execution mode and the execution parameters.
  • Step 125 sending the updated task information to a preset number of receiving devices corresponding to the online drone selected by the user.
  • the display page 10 of UAV command center shows task execution type, task execution mode and execution parameter option button, and the user can adjust according to demand.
  • the selectable device list is different.
  • the device name of the corresponding online drone is displayed. The user can select the device according to the demand.
  • Click the Save button to save and send task information.
  • the display page 10 displays a list of periodic parameters, and the user can adjust the selected periodic parameters according to requirements.
  • the period parameter also includes the effective time of period execution, which can be selected through buttons.
  • the execution period can be selected as 1, and the effective time is selected as the preset start time to generate a timed task of the drone.
  • the UAV control center communicates with the nest body and the remote controller, after the task information is sent to the nest body and the remote controller, the nest body and the remote controller forward the task information to the connected online unmanned aerial vehicle.
  • the online UAV performs flight missions according to the updated mission information.
  • the online drone corresponds to the nest body and the remote control one by one. The way between the UAV control center and the nest body and the remote control ensures the stability of communication, and at the same time further reduces the number of wireless communication modules installed on the UAV to reduce the load on the UAV.
  • Step 130 displaying the task information and task delivery status by task type.
  • the user selects the task management button on the display interface 10, and a plurality of task information is displayed on the display interface 10 (as shown in 11, 12 and 13 in Figure 4), and the displayed content includes: route information, task name , task type, task creation time, task delivery status, task ID, etc., wherein the route information can be visually displayed through electronic maps (as shown in 11, 12 and 13 in Figure 4) and simulated routes.
  • the user can enlarge the target task information to a full screen for display by selecting the target task information, and the user can zoom in on the electronic map displaying the route information through the zoom operation, which is convenient for the user to view the display position of the route on the map more intuitively .
  • the user can choose to display the task information according to the status of the task information, which is convenient for the user to coordinate and control according to the status of the task information.
  • the UAV mission management method also includes:
  • Step 140 acquiring and displaying the real-time data returned when the online UAV executes the task information.
  • the online UAV When the online UAV performs a task, it sends back real-time data, including UAV real-time image transmission screen and UAV real-time flight data.
  • the UAV control center obtains the real-time data returned when the online UAV performs the first mission, and performs real-time image transmission on the display page 10 30, the display page 10 displays the real-time image transmission images of one or more drones and the real-time flight data of the drones according to the layout mode selected by the user.
  • all real-time data of the online UAV is transmitted from the online UAV to the corresponding machine nest body and remote control, and then the machine nest body and remote control report to the drone through the WebRtc DataChannel channel and the Netty transmission protocol channel control center.
  • the real-time dynamic display is convenient for users to understand the execution of the first mission of each UAV, and it is convenient for users to coordinate and command tasks.
  • Step 150 acquire the modification of the route information by the user, and update the route information.
  • the task information that the drone is performing can be adjusted according to the real-time data of the drone, so that the flight of the drone is more in line with the actual task situation.
  • the real-time image transmission screen returned by the online drones shows that the current drone flight altitude/angle/speed images do not meet the patrol image requirements
  • the user can dynamically and temporarily adjust parameters such as route height and flight speed to update route information.
  • the task information is updated according to the updated route information, and after parameter adjustment of the task information, it is sent to a preset number of online drones performing the task, and the online drones fly according to the new route information.
  • the real-time adjustment of parameters by the user according to the real-time image transmission screen sent back it is beneficial to ensure the safety of the online UAV when performing tasks and improve the completion effect of the task.
  • the task information of the drone is generated according to the data configured by the user, and the task information is sent to the receiving device corresponding to the preset number of online drones, and the receiving device forwards the task information to the corresponding receiving device.
  • the connected online UAV, the online UAV and the receiving device are connected in one-to-one correspondence; the task information and task delivery status are displayed according to the task type.
  • FIG. 7 is a schematic structural diagram of a UAV task management device provided in Embodiment 2 of the present invention. As shown in FIG. 7, a UAV task management device includes:
  • the mission acquisition module 210 is configured to generate the mission information of the UAV according to the data configured by the user.
  • the UAV command center connects and controls at least one UAV.
  • the UAV is set on a fixed nest body, and can be carried by the pilot to any place, and can be released and controlled by the remote control.
  • the tasks of the UAV can be divided into route tasks such as waypoint/polygon/rectangle, and according to the type of task content, the tasks of the UAV can be divided into tasks such as patrol, tracking, aerial photography modeling and live video.
  • the number of UAVs performing tasks can divide UAV tasks into single-machine tasks and multi-machine tasks.
  • the task information of the drone is generated according to the task type, task area and preset number of drones configured by the user.
  • the task acquisition module 210 includes:
  • the first configuration acquisition unit is configured to acquire the task type, task execution area and preset number of unmanned aerial vehicles selected by the user.
  • the route generation unit is configured to divide the task execution area into routes according to the task type and the preset number of the drones, and generate at least one route information.
  • Users can delineate the task execution area on the electronic map interface, select the task type and the preset number of UAVs through the system's preset options, and divide the mission execution area according to the task type and the preset number of UAVs , generate at least one piece of route information, and when dividing the route, try to ensure that the route distance of each drone is equivalent. For example, when dividing the route, the task execution area is equally divided according to the preset number. When multiple drones cooperate to perform tasks, they can complete tasks as soon as possible, reduce task execution time, and improve task execution efficiency.
  • the preset number is at least 1, and the preset number is smaller than the number of currently idle drones.
  • the task obtaining module 210 also includes:
  • the task execution type acquisition unit is used to obtain the default task execution type of the system and the online drone; the task execution type includes pilot execution and machine nest execution.
  • the task execution mode and execution parameter acquisition unit is used to obtain the default task execution mode and execution parameters of the system; the task execution mode includes immediate execution and periodic execution; when the task execution mode is periodic execution, the execution parameters include at least the execution period parameters and execution time.
  • a task information generating unit configured to generate task information of the drone according to the route information, the task execution type, the online drone, the task execution mode and execution parameters.
  • the task issuing module 220 is configured to issue the task information to a preset number of online drones.
  • the task information needs to be sent to the receiving device corresponding to the online drone, for example, the remote control or the machine nest body, and then the remote control and the machine nest body will send the task information
  • the information is forwarded to the online drone it is connected to.
  • the task information can be automatically issued by the UAV command center, or manually issued by the user according to the demand.
  • the task presentation module 230 includes:
  • the receiving device acquisition unit is used to obtain the corresponding receiving device according to the default task execution type of the system and the online drone; if the task execution type is pilot execution, the receiving device is connected to the online drone Remote control; if the task execution type is nest execution, the receiving device is a nest body connected to the online drone.
  • the automatic task delivery unit is configured to automatically deliver the task information to a corresponding preset number of receiving devices, and the receiving devices forward the task information to the connected online drones.
  • the task presentation module 230 includes:
  • the task execution type selection unit is used to display the corresponding online drone according to the task execution type selected by the user.
  • the task information update unit is used to update the task information of the drone according to the task execution type selected by the user, the online drone, the task execution mode and the execution parameters.
  • the updating task delivery unit is used to deliver the updated task information to a preset number of receiving devices corresponding to the online drone selected by the user.
  • the task display module 230 is configured to display the task information and task delivery status by task type.
  • the mission feedback obtaining module is used to obtain and display the real-time data returned when the online UAV performs the first mission.
  • the route information modification module is used to obtain the modification of the route information by the user and update the route information.
  • the task information of the drone is generated according to the data configured by the user, and the task information is sent to the receiving device corresponding to the preset number of online drones, and the receiving device forwards the task information to the corresponding receiving device.
  • the connected online UAV, the online UAV and the receiving device are connected in one-to-one correspondence; the task information and task delivery status are displayed according to the task type.
  • the UAV task management device provided in the embodiments of the present invention can execute the UAV task management method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
  • Fig. 8 is a schematic structural diagram of a UAV task management device provided by Embodiment 3 of the present invention.
  • the UAV task management device includes a processor 30, a memory 31, an input device 32 and an output device 33
  • the quantity of processor 30 in the unmanned aerial vehicle mission management equipment can be one or more, take a processor 30 as an example among Fig. 8;
  • the output device 33 can be connected via a bus or in other ways, and connection via a bus is taken as an example in FIG. 6 .
  • the processor 30 executes various functional applications and data processing of the UAV mission management device by running the software programs, instructions and modules stored in the memory 31, that is, realizes the above-mentioned UAV mission management method.
  • the memory 31 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 31 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the memory 31 may further include memory located remotely relative to the processor 30, and these remote memories may be connected to the UAV mission management device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 32 can be used to receive input numbers or character information, and generate key signal input related to user settings and function control of the UAV task management device.
  • the output device 33 may include a display device such as a display screen.
  • Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, the computer-executable instructions are used to execute a UAV task management method when executed by a computer processor, the method comprising:
  • the storage medium containing computer-executable instructions provided by the embodiments of the present invention the computer-executable instructions are not limited to the method operations described above, and can also execute the UAV task management provided by any embodiment of the present invention. Related operations in the method.
  • the present invention can be realized by means of software and necessary general-purpose hardware, and of course it can also be realized by hardware, but in many cases the former is a better implementation mode .
  • the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including several instructions to make a computer device (which can be a personal computer) , server, or network device, etc.) execute the methods described in various embodiments of the present invention.
  • a computer-readable storage medium such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc
  • the units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized;
  • the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.

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Abstract

La présente invention concerne un procédé et un appareil de gestion de tâches d'engin volant sans pilote embarqué, un dispositif et un support de stockage. Le procédé de gestion de tâches d'engin volant sans pilote embarqué comprend les étapes consistant : à générer des informations de tâches d'un engin volant sans pilote embarqué selon des données configurées par l'utilisateur (110) ; à distribuer les informations de tâches à un nombre prédéfini d'engins volants sans pilote embarqué en ligne (120) ; et à afficher les informations de tâches et un état de distribution de tâches par type de tâche (130). La présente invention résout les problèmes de tâches ne pouvant être distribuées qu'à des engins volants sans pilote embarqué d'une manière biunivoque, et de distribution de tâches relativement lente, ainsi que le problème d'un utilisateur ne pouvant pas visualiser simultanément de multiples tâches de compagnie aérienne ; permettant à une tâche d'être distribuée simultanément à de multiples engins volants sans pilote embarqué, les multiples engins volants sans pilote embarqué exécutant de manière simultanée et coopérative la même tâche, et permettant que des informations de multiples tâches de compagnie aérienne soient affichées simultanément, améliore la vitesse de distribution de tâches et les effets de coordination lors de l'exécution de la tâche.
PCT/CN2022/119127 2021-09-15 2022-09-15 Procédé et appareil de gestion de tâches d'engin volant sans pilote embarqué, dispositif et support de stockage WO2023040986A1 (fr)

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CN118129761A (zh) * 2024-05-06 2024-06-04 山东省水文计量检定中心 一种水文塔用无人机巡航***

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