CN106656310A - Method and system for unmanned aerial vehicles to execute tasks - Google Patents
Method and system for unmanned aerial vehicles to execute tasks Download PDFInfo
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- CN106656310A CN106656310A CN201710015622.5A CN201710015622A CN106656310A CN 106656310 A CN106656310 A CN 106656310A CN 201710015622 A CN201710015622 A CN 201710015622A CN 106656310 A CN106656310 A CN 106656310A
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- 230000005611 electricity Effects 0.000 claims description 12
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- 238000010586 diagram Methods 0.000 description 8
- 230000002411 adverse Effects 0.000 description 2
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- 230000036626 alertness Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
Embodiments of the present invention disclose a method and system for unmanned aerial vehicles to execute tasks. The method includes: a serving terminal receives task information about a task executed by an unmanned aerial vehicle at an unmanned aerial vehicle stop, wherein the task information includes a task location and a task type of the task executed by the unmanned aerial vehicle, and serving terminals are located inside the stops or outside the stops distributed according to a preset distribution mode; the serving terminal determines the unmanned aerial vehicle which executes the task according to the task information, and sends a task execution instruction to the unmanned aerial vehicle, wherein the task execution instruction is generated by the serving terminal or a control center according to the task information; the unmanned aerial vehicle receives the task execution instruction, and executes the task according to the task execution instruction, and when executing the task, the unmanned aerial vehicle exchanges data with the serving terminal and/or the control center through a wireless network. The method and system in embodiments of the present invention solve the problem that the unmanned aerial vehicle cannot reach the task location right away when receiving the task information, and achieve the purpose that the unmanned aerial vehicle quickly and efficiently reaches the accident scene and executes the task.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique, more particularly to a kind of unmanned plane task executing method and system.
Background technology
With the continuous development of unmanned air vehicle technique, unmanned plane is just progressively used widely in safety-security area.
Security protection unmanned plane have low cost, flexible operation and can hedgehopping the features such as, unmanned plane can be completed in the air
Special duty, including carry high sensitivity camera or video camera and uninterruptedly shot, obtain site of the accident image data
And pass ground back, carry out science decision for commanding, or can high-altitude propaganda directed to communicate, the effectively warning of transmission ground police personnel
It is intended to, it is to avoid major accident occurs.
At present, complete Intelligent unattended alertness is included with fully integrated emergency system：Load professional police car, the nothing of unmanned plane
Man-machine, unmanned signal grounded receiving station, data transmission processing system, unmanned plane operation bench, earth station's control and monitor console and unmanned plane are special
Use communication equipment.The said equipment typically can be integrated in a police car, when there is accident, be easy to armamentarium at any time
Fast transportation is to the site of the accident.But the site of the accident is arrived in from the information of receiving the report to police car, whole system is opened and is controlled nothing
The whole flow process of the man-machine field condition that carries out investigations at least needs half an hour or longer time.But the urgent thing of majority
Part occurs within a short period of time, and the alert fully integrated emergency system of above-mentioned Intelligent unattended most cannot in short-term be carved what event occurred
Arrive in the site of the accident, it is impossible to which major event is strangled in initial period, additionally, above-mentioned emergency system need artificial 24 hours it is on duty,
Easily restricted by time and space, with significant limitation, applicability is not strong.
The content of the invention
The present invention provides a kind of unmanned plane task executing method and system, to realize that unmanned plane quickly and efficiently reaches incident
Scene simultaneously performs task.
In a first aspect, embodiments providing a kind of unmanned plane task executing method, the method includes：
Service terminal receives the mission bit stream that unmanned plane is performed, and the mission bit stream includes that unmanned plane performs the task of task
Position and task type, the service terminal is located in the bus stop according to default distribution mode distribution or outside bus stop；
The service terminal determines the unmanned plane for performing the task according to the mission bit stream, and sends out to the unmanned plane
Task-performance instructions, the task-performance instructions are sent to be generated according to the mission bit stream by the service terminal or control centre,
The unmanned plane is rested in the bus stop that the service terminal is located；
The unmanned plane receives the task-performance instructions, and performs the task according to the task-performance instructions, when
The unmanned plane carries out data friendship by wireless network when the task is performed with the service terminal and/or control centre
Mutually.
Further, the service terminal is located in the bus stop according to default distribution mode distribution or outside bus stop, bag
Include：
The bus stop is arranged according to the radius of action of geographic area and/or the unmanned plane, each described bus stop
At least one service terminal of correspondence, the radius of action of the unmanned plane is according to the endurance of the unmanned plane and/or carrying
Functional module determines.
Further, the unmanned plane performs the task according to the task-performance instructions, including：
If the task-performance instructions are patrol missions, the unmanned plane carries video camera and is referred to according to the tasks carrying
Patrol track in order performs the patrol mission；
Or, if the task-performance instructions are propagandaed directed to communicate and/or during interactive task, the unmanned plane carries speech player
Voice messaging is played in the task location with voice receiver, or On-the-spot Interaction and crowd's dialogue is carried out in task location,
The voice messaging is sent to the unmanned plane by the control centre；
Or, watch task if the task-performance instructions are accidents, the unmanned plane carry the video camera fly to
Task location simultaneously obtains the pictorial information or audio/video information of the task location；
Or, if the task-performance instructions are input tasks, the unmanned plane carries object to be put in the task
Position is thrown in, and the object to be put determines according to the mission bit stream.
Further, the unmanned plane performs the task according to the task-performance instructions, also includes：
The unmanned plane detects whether the control data that there is the control centre；
If nothing, the unmanned plane enters automatic mode, and according to the task-performance instructions task is performed；
If so, the unmanned plane enters control model, receives control instruction, appoints according to the control instruction is performed
Business, wherein, the control centre sends the control instruction by joystick and/or computer to the unmanned plane.
Further, the unmanned plane performs the task according to the task-performance instructions, also includes：
The unmanned plane automatic detection information about power, if detecting the information about power less than default electricity, it is described nobody
Machine enters the automatic mode, and interrupt task simultaneously returns the bus stop and automatic charging.
Further, when the unmanned plane is when the task is performed, by wireless network and the service terminal and/or
Control centre carries out data interaction, including：
When the unmanned plane is when the task is performed, the unmanned plane determines the unmanned plane with the service terminal
And/or the optimum connected mode of control centre；
The unmanned plane carries out data friendship according to the optimum connected mode with the service terminal and/or control centre
Mutually.
Further, when the unmanned plane is when the task is performed, by wireless network and the service terminal and/or
Control centre carries out data interaction, also includes：
If detecting the unmanned plane with the service terminal and/or the disconnecting of control centre, the unmanned plane
Into automatic mode, after the task is performed according to the task-performance instructions bus stop, and store tasks number are returned
According to.
Further, the unmanned plane carries out data friendship by wireless network with the service terminal and/or control centre
Mutually, including：
The unmanned plane carries out data interaction by wireless network and control centre；Or
The unmanned plane carries out data interaction by wireless network and the service terminal, and the service terminal is by wireless
Network and/or fixed broadband network and/or proprietary network carry out data interaction with the control centre.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane task execution system, and the system includes：
Service terminal, for receiving the mission bit stream of unmanned plane execution, determines according to the mission bit stream and performs described appointing
The unmanned plane of business, and task-performance instructions are sent to the unmanned plane, the mission bit stream includes that unmanned plane performs appointing for task
Business position and task type, the task-performance instructions are by the service terminal or control centre according to the mission bit stream
Generate, the service terminal is located in the bus stop according to default distribution mode distribution or outside bus stop；
Unmanned plane, for receiving the task-performance instructions, and performs the task according to the task-performance instructions, when
The unmanned plane carries out data friendship by wireless network when the task is performed with the service terminal and/or control centre
Mutually, the unmanned plane is rested in the bus stop that the service terminal is located；
Control centre, for sending the mission bit stream or task-performance instructions to the service terminal, with the clothes
Business terminal and/or the unmanned plane carry out data interaction, are sent out to the service terminal and/or the unmanned plane according to the data
Deliver letters breath.
Further, the bus stop is arranged according to the radius of action of geographic area and/or the unmanned plane, each institute
State bus stop at least one service terminal of correspondence, the radius of action of the unmanned plane according to the endurance of the unmanned plane and/
Or the functional module for carrying determines.
Further, the unmanned plane specifically for：
If the task-performance instructions are patrol missions, the unmanned plane carries video camera and is referred to according to the tasks carrying
Patrol track in order performs the patrol mission；Or, if the task-performance instructions are propagandaed directed to communicate and/or during interactive task,
The unmanned plane carries speech player and voice receiver and plays voice messaging in the task location, or in task location
On-the-spot Interaction and crowd's dialogue are carried out, the voice messaging is sent to the unmanned plane by the control centre；Or, if institute
It is that accident watches task to state task-performance instructions, and the unmanned plane carries the video camera and flies to task location and obtain described
The pictorial information or audio/video information of task location；Or, if the task-performance instructions are input tasks, the unmanned plane
Carry object to be put to be thrown in the task location, the object to be put determines according to the mission bit stream.
Further, the unmanned plane also includes：
Control instruction detection module, for detecting whether there is the control data of the control centre；If nothing, it is described nobody
Machine enters automatic mode, and according to the task-performance instructions task is performed；If so, the unmanned plane enters control model,
Receive control instruction, the task performed according to the control instruction, wherein, the control centre by joystick and/or
Computer to the unmanned plane sends the control instruction.
Further, the unmanned plane also includes：
Electric power detection module, for automatic detection information about power, if detecting the information about power less than default electricity, institute
Unmanned plane is stated into the automatic mode, interrupt task simultaneously returns the bus stop and automatic charging.
Further, the unmanned plane also includes：
Connected mode selecting module, for perform the task when, the unmanned plane determine the unmanned plane with it is described
Service terminal and/or the optimum connected mode of control centre；
Data interaction module, for according to the optimum connected mode, carrying out with the service terminal and/or control centre
Data interaction.
Further, the unmanned plane also includes：
Disconnecting processing module, if for detecting the unmanned plane and the service terminal and/or control centre
Disconnecting, then the unmanned plane enter automatic mode, return institute after the task is performed according to the task-performance instructions
State bus stop, and store tasks data.
Further, the data interaction module specifically for：
The unmanned plane carries out data interaction by wireless network and control centre；Or the unmanned plane passes through wireless network
Network and the service terminal carry out data interaction, and the service terminal is by wireless network and/or fixed broadband network and/or specially
There is network to carry out data interaction with the control centre.
The embodiment of the present invention receives mission bit stream by being distributed in the service terminal of different bus stops, is given birth to according to mission bit stream
Into task-performance instructions, or the task-performance instructions of control centre are directly received, it is determined that the unmanned plane of the instruction is performed, nobody
Machine performs the task when receiving task-performance instructions.Unmanned plane flies immediately to task location when task-performance instructions are received
And task is performed, and instead of in prior art and unmanned plane is transported to by task location execution task by police car, solve and connecing
Cannot realize unmanned plane and quickly and efficiently reach in the problem of most fast time arrival task location to unmanned plane during mission bit stream
The site of the accident simultaneously performs task.
Description of the drawings
Figure 1A is embodiment of the present invention application scenarios schematic diagram；
Figure 1B is the flow chart of the unmanned plane task executing method that the embodiment of the present invention one is provided；
Fig. 1 C are the service terminal distribution schematic diagrams that the embodiment of the present invention one is provided；
Fig. 2 is the flow chart of the unmanned plane task executing method that the embodiment of the present invention two is provided；
Fig. 3 A are the flow charts of the unmanned plane task executing method that the embodiment of the present invention three is provided；
Fig. 3 B are the wireless network connection diagrams of the service terminal that the embodiment of the present invention three is provided and control centre；
Fig. 3 C are the fixed broadband network connection diagrams of the service terminal that the embodiment of the present invention three is provided and control centre；
Fig. 3 D are the proprietary network connection diagrams of the service terminal that the embodiment of the present invention three is provided and control centre；
Fig. 4 is the structural representation of the unmanned plane task execution device that the embodiment of the present invention four is provided.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Referring to Figure 1A, Figure 1A is embodiment of the present invention application scenarios schematic diagram.Unmanned plane 101 is by wireless network and service
Terminal 102 and control centre 103 interact, and service terminal 102 is by wireless network or cable network and control centre 103
Interact.Wherein, multiple service terminals 102 are distributed in different bus stops, and service terminal 102 can receive control centre
103 mission bit streams for sending, call the execution task of unmanned plane 101 in affiliated bus stop, wherein, can stay in each bus stop
Stay one or more unmanned planes 101.Control centre 103 can receive data message or the unmanned plane that unmanned plane 101 is directly transmitted
101 data messages transmitted by service terminal 102, also can send control instruction, control by wireless network to unmanned plane 101
Unmanned plane 101 performs task.Wherein, control centre 103 is arranged in fixed buildings, for example, can be the public of whole region
Safety-command center, it is also possible in being provided in vehicle, or through authorizing staff, in forming moveable son control
The heart, sub- control centre can interact with control centre, can individually or synergistically obtain the data message of the transmission of unmanned plane 101
Or unmanned plane 101 is controlled.
Embodiment one
Figure 1B is the flow chart of the unmanned plane task executing method that the embodiment of the present invention one is provided, and the present embodiment is applicable to
Unmanned plane quickly reaches task place and performs the situation of task according to mission bit stream, and the method can be carried by the embodiment of the present invention
For unmanned plane task execution system performing, specifically include following steps：
S110, service terminal receive the mission bit stream that unmanned plane is performed, and mission bit stream includes that unmanned plane performs appointing for task
Business position and task type, service terminal is located in the bus stop according to default distribution mode distribution or outside bus stop.
Wherein, unmanned plane refers to not carried using what radio robot and/or the presetting apparatus provided for oneself were manipulated
People's aircraft, surface personnel can pass through radar or the navigator that carries be tracked to unmanned plane, position, remote control, distant
Survey or data transfer etc..
Mission bit stream includes that unmanned plane performs the task location and task type of task, and exemplary, unmanned plane is performed
The task location of task can be by GPS (Global Positioning System, global positioning system) modes or its
His navigation positioning system is obtained, and task type can be patrol mission, propaganda directed to communicate and/or interactive task, scene are watched or thrown in
Task dispatching.Mission bit stream can be control centre to be determined according to warning message, and send to corresponding service terminal, or
Community resident directly sends warning message, clothes by the special alert device for arranging in the cell to the cell corresponding with service terminal
Business terminal determines mission bit stream according to warning message, or can also be that authorized police directly sends task letter to server end
Breath, wherein, warning message can include but is not limited to robber and police information, fire alarm information, relief rescue warning message, accident report
Alarming information or engineering assist warning message etc..It is exemplary, community resident can pass through button in special alert device to
Service terminal sends warning message, calls unmanned plane quickly to reach the special alert device region, wherein, can be in each clothes
Business terminal installs multiple special alert devices in corresponding region.
In the present embodiment, a service terminal is set, service terminal is arranged on according to default distribution in each bus stop
In the different bus stops that mode is distributed.
Preferably, service terminal is located in the bus stop according to default distribution mode distribution or outside bus stop, specifically can be with
It is：
The bus stop is arranged according to the radius of action of geographic area and/or the unmanned plane, each described bus stop
One service terminal of correspondence, the radius of action of unmanned plane determines according to the endurance of unmanned plane and/or the functional module of carrying.
Wherein, the distribution mode of bus stop can be divided according to geographical area size, set in each geographic area
Bus stop and service terminal are put, it is exemplary, city is evenly dividing as multiple blocks, it is respectively provided with each block and stops
Pull in and service terminal, specifically, service terminal can be arranged in bus stop, can be arranged in the region outside bus stop,
Can also be and be arranged on unmanned plane.As shown in Figure 1 C, Fig. 1 C are that the service terminal distribution that the embodiment of the present invention one is provided is illustrated
Figure.
It should be noted that bus stop can correspond to one or more service terminal, service terminal also can be to should area
Multiple bus stops in domain.Exemplary, bus stop can be remembered with service terminal quantity according to history in the bus stop corresponding region
The tasks carrying frequency of record determines.Can cooperate between different service terminals, call the unmanned plane in different bus stops, nobody
Machine can be stopped according to task and residing situation in different bus stops.
The distribution mode of bus stop can also be and arranged according to the radius of action of unmanned plane that the corresponding block of service terminal can
To be the border circular areas or other irregularly shaped regions centered on bus stop, with the radius of action of unmanned plane as radius.
Wherein, the radius of action of unmanned plane refers to unmanned plane and once comes and goes fly able range, the radius of action of unmanned plane by
The endurance of unmanned plane and/or the functional module of carrying determine that the endurance of wherein unmanned plane refers to unmanned plane once
Continuous not abortive range, it is exemplary, can be 1-10 kilometers, if unmanned plane carries high capacity cell or combustion
Material engine, can improve the endurance of unmanned plane.
S120, service terminal determine the unmanned plane of execution task according to mission bit stream, and send tasks carrying to unmanned plane
Instruction, task-performance instructions are generated by service terminal or control centre according to mission bit stream, and unmanned plane rests in service terminal institute
In corresponding bus stop.
Wherein, an at least frame unmanned plane is configured with each bus stop to be resident, different unmanned planes are configured with difference in functionality
Equipment, exemplary, unmanned plane may be configured with high-definition camera, speech player and voice receiver, tear bombnoun or smog
One or more function device such as bullet.Service terminal receives mission bit stream, and according to mission bit stream the unmanned plane of execution task is determined,
Exemplary, can be determined to be configured with the unmanned plane of corresponding function equipment, or according to task position according to task type
Put and determine the unmanned plane with corresponding endurance.
Preferably, the tasks carrying that service terminal can directly receive control centre or be sent by authorized personnel
Instruction, service terminal sends task-performance instructions to corresponding unmanned plane.Can cooperate between multiple service terminals, jointly
Unmanned plane in the different bus stops of management.
Service terminal to corresponding unmanned plane send task-performance instructions, task-performance instructions include task location information and
Task definition, wherein, the unmanned plane that service terminal determines is rested in the bus stop of service terminal covering.
S130, unmanned plane receive task-performance instructions, and perform task according to task-performance instructions, when unmanned plane is being performed
During task, data interaction is carried out by wireless network and service terminal and/or control centre.
Wherein, unmanned plane in resting in corresponding bus stop, and voluntarily charges when task-performance instructions are not connected to.Nothing
When human-machine interface is to task-performance instructions, according to the task location information and task definition of task-performance instructions carrying, reach immediately
Task location simultaneously performs task.
In the present embodiment, service terminal can be received the unmanned plane that appointed task is determined after mission bit stream, and to unmanned plane
Task-performance instructions are sent, unmanned plane receives task-performance instructions and reaches the time control of task location in the shortest time, makes
The corresponding situation that related personnel obtains task scene in the shortest time is obtained, exemplary, unmanned plane reaches the time of task location
Can within five minutes that service terminal receives mission bit stream, relative to prior art, shorten unmanned plane and reach task
The time of position, improve operating efficiency.
Unmanned plane obtains the data message related to task in the task of execution, and data message includes speech data, picture
Data, video data or status information etc..It is exemplary, data message can be unmanned plane when on a patrol duty, obtain
The pictorial information for taking or audio/video information；Data message can also be that unmanned plane is performing scene interaction or input task
When, acoustic information that unmanned plane is heard at the scene or input successful information for producing after the completion of input task etc..Unmanned plane
Data interaction is carried out by wireless network and service terminal and/or control centre, makes ground staff pass through unmanned plane real-time monitoring
The situation of task location.Wherein, control centre is referred to for receiving warning message, determines mission bit stream simultaneously according to warning message
Send to corresponding service terminal, the data that unmanned plane sends in the task of execution are received, while can carry out in real time to unmanned plane
Control.It should be noted that unmanned plane can be carrying out data interaction with authorized personnel.
Preferably, unmanned plane performs task and can also be according to task-performance instructions：
If task-performance instructions are patrol missions, unmanned plane carries patrol rail of the video camera in task-performance instructions
Mark is on a patrol duty；
Or, if task-performance instructions are propagandaed directed to communicate and/or during interactive task, unmanned plane carries speech player and voice connects
Receive device and play voice messaging in task location, or On-the-spot Interaction and crowd's dialogue are carried out in task location；
Or, if task-performance instructions are scenes watching task, unmanned plane carries video camera and flies to task location and obtain
Take the pictorial information or audio/video information of task location；
Or, if task-performance instructions are input tasks, unmanned plane carries object to be put and is thrown in task location,
Object to be put determines according to mission bit stream.
Wherein, if the task type in the mission bit stream of service terminal reception is patrol mission, service terminal determines carrying
The unmanned plane of video camera is the unmanned plane of execution task, and sends task-performance instructions to the unmanned plane, in task-performance instructions
Carry the patrol track of patrol mission.Unmanned plane is received after task-performance instructions, is performed patrol according to patrol track immediately and is appointed
Business, in task implementation procedure, shoot patrol track picture or video information, and by obtain picture or video information
By wireless network real-time Transmission to service terminal and/or control centre.
If the task type in the mission bit stream that service terminal is received is to propaganda directed to communicate and/or interactive task, service terminal determines
The unmanned plane for carrying speech player and voice receiver is the unmanned plane of execution task, and sends tasks carrying to the unmanned plane
Instruction, unmanned plane is received after task-performance instructions, is flown immediately to task location, carries out On-the-spot Interaction and crowd's dialogue, or
Task of propagandaing directed to communicate is performed according to the voice messaging that control centre sends.
If the task type in the mission bit stream that service terminal is received watches task for scene, service terminal determines that carrying is taken the photograph
The unmanned plane of camera is the unmanned plane of execution task, and sends task-performance instructions to the unmanned plane, and unmanned plane receives task and holds
After row instruction, fly immediately to task location, obtain the pictorial information or audio/video information of task location, and the figure that will be obtained
Piece or audio/video information are by wireless network real-time Transmission to service terminal and/or control centre.
If the task type in the mission bit stream of service terminal reception is input task, service terminal determines carrying missile
The unmanned plane of body is the unmanned plane of execution task, and sends task-performance instructions to the unmanned plane, wherein, carry in mission bit stream
Need to be thrown in object information, exemplary, object to be put can be tear bombnoun or aerosol bomb etc..Unmanned plane receives task and holds
After row instruction, fly immediately to task location and perform input task, after object input terminates, unmanned plane to control centre sends
Throw in successful information.
It should be noted that can be exemplary comprising one or more task place and task type in mission bit stream, if
When warning message is robber and police information, determine that task type can be the task of propagandaing directed to communicate and input task according to warning message, it is to be put
Object is aerosol bomb, and service terminal can will simultaneously perform the task of propagandaing directed to communicate and throw in the unmanned plane determination of task according to the mission bit stream
To perform the unmanned plane of task.
Optionally, unmanned plane task executing method can be applied not only to police security service, it is also possible to for non-security clothes
Business, it is exemplary, unmanned plane task executing method can also be applied to environmental administration call check certain plant emissions sewage or
Person's waste gas situation, power department call inspection wire conditions or traffic department to check traffic congestion situation etc., it is also possible to should
For checking ammeter, distributing leaflet, collect vital document or quick transmission article etc. in region.
The technical scheme of the present embodiment, by be distributed in different bus stops service terminal receive mission bit stream, according to appoint
Business information generates task-performance instructions, and determines the unmanned plane for performing the instruction, and unmanned plane is performed when receiving task-performance instructions
The task.Unmanned plane flies immediately to task location when task-performance instructions are received and performs task, instead of existing skill
Unmanned plane is transported to by task location by police car in art and performs task, solving when mission bit stream is connected to unmanned plane cannot be
The most fast time reaches the problem of task location, realizes unmanned plane and quickly and efficiently reaches the site of the accident and perform task.
Embodiment two
Fig. 2 is the flow chart of the unmanned plane task executing method that the embodiment of the present invention two is provided, in the base of above-described embodiment
On plinth, further increased unmanned plane when unmanned plane performs task according to task-performance instructions and detect whether to deposit in the controlling
The control data of the heart；If nothing, unmanned plane enters automatic mode, according to task-performance instructions task is performed；If so, unmanned plane is entered
Control model, receives control instruction, and according to control instruction task is performed, wherein, control centre is by joystick and/or calculating
Machine to unmanned plane sends control instruction.Accordingly, the method is specifically included：
S210, service terminal receive the mission bit stream that unmanned plane is performed.
Wherein, mission bit stream include unmanned plane perform task task location and task type, service terminal be located at according to
According in the bus stop that default distribution mode is distributed or outside bus stop.
S220, service terminal determine the unmanned plane of execution task according to mission bit stream, and send tasks carrying to unmanned plane
Instruction.
Wherein, task-performance instructions are generated by service terminal or control centre according to mission bit stream, and unmanned plane is rested in
In the bus stop that service terminal is located.
S230, unmanned plane receive task-performance instructions, and unmanned plane detects whether the control data that there is control centre.If
It is, then execution step S250, if it is not, then execution step S240.
In the present embodiment, unmanned plane is received after task-performance instructions, and during execution task, whether real-time detection deposits
The control data of the heart or authorized personnel in the controlling, once occurring, unmanned plane is immediately switched to control model, holds
Row real time control command, exemplary, control instruction can be that heading, control unmanned plane and the scene for controlling unmanned plane is entered
Row interactive voice either controls unmanned plane to carry out object input or obtains picture etc. in specified location.
Wherein, the control instruction of control centre can be sent to unmanned plane by wireless network, or control centre will control
Instruction is sent to the corresponding service terminal of unmanned plane, then control instruction is sent to unmanned plane by service terminal.
S240, unmanned plane enter automatic mode, and according to task-performance instructions task is performed, by wireless network with service eventually
End and/or control centre carry out data interaction.
Wherein, automatic mode refers to unmanned plane in the case of without external control instruction, according to own control systems
Complete task.
If unmanned plane perform task process in be not received by control centre transmission control data, unmanned plane according to times
Business execute instruction reaches task location, performs task definition, obtain corresponding task data information transfer to service terminal and/or
Auto-returned bus stop after control centre.
In the present embodiment, unmanned plane can perform task automatically according to task-performance instructions, solve in prior art nobody
It is alert with integrated emergency system must artificial 24 hours it is on duty, by time and the problem of space constraint, reduce police
Workload, shorten the reaction time to accident, improve operating efficiency.
S250, unmanned plane enter control model, receive control instruction, task are performed according to control instruction, by wireless network
Network and service terminal and/or control centre carry out data interaction, wherein, control centre by joystick and/or computer to
Unmanned plane sends control instruction.
If unmanned plane perform task process in, detect control centre transmission control data when, unmanned plane automatically from
Automatic pattern switching suspends the instruction being currently executing to control model, receives control centre or authorized work people
The control instruction that member sends, and perform.Wherein, the control instruction of control centre or authorized personnel's transmission can be
By joystick, either computer complete independently or combination are completed.Exemplary, can be that nothing is controlled by joystick
Man-machine heading and state of flight, are combined control unmanned plane with joystick and are performed and appointed by computer or computer
Business, either sends control instruction by sensing the gesture or idea of effector to unmanned plane, for example, can be to control unmanned plane
Fly to precalculated position and throw in object or shoot picture etc..
In the present embodiment, unmanned plane can real-time reception control centre control instruction, according to control instruction perform task, keep away
Exempt from when there is accident, unmanned plane cannot automatic identification field condition, it is impossible to adjust mission bit stream according to actual conditions
Problem.
The technical scheme of the present embodiment, by when unmanned plane performs task, detecting whether there is control centre's transmission
Control data, if control instruction is received and performed when having control data, if without control data, unmanned plane is performed in automatic mode
Task, i.e. unmanned plane can in automatic mode perform task, the workload of police be reduced, also dependent on the reality of control centre
When control execution task, it is to avoid emergency case.
On the basis of above-mentioned technical proposal, unmanned plane performs task according to task-performance instructions, also includes：
Unmanned plane automatic detection information about power, if detecting information about power less than default electricity, unmanned plane enters automatic mold
Formula, interrupt task simultaneously returns bus stop and automatic charging.
Unmanned plane in the task of execution, can real-time monitoring information about power, if monitor electricity less than default electricity, enter
Automatic mode simultaneously returns bus stop.Exemplary, if unmanned plane current state is automatic mode, interrupt task simultaneously returns stop
Stand；If unmanned plane current state is control model, automatic mode is automatically switched to, interrupt task simultaneously returns bus stop.Work as nothing
Not enough power supply information is sent during the man-machine return bus stop because of not enough power supply to control centre.Wherein, default electricity can be total electricity
The 10% of amount, may also be unmanned plane electricity according to needed for distance between current location and bus stop determines that unmanned plane returns bus stop
Amount.
In the present embodiment, by detecting information about power, the auto-returned bus stop when information about power is less than default electricity is kept away
Unmanned plane is exempted from the task of execution because not enough power supply causes unmanned plane to drop impaired or cannot return bus stop and cause nobody
The situation that machine is lost.
Preferably, if unmanned plane detects the working environment of the environment beyond unmanned plane of task location, unmanned plane is entered certainly
Dynamic model formula, interrupt task simultaneously returns bus stop.
It is exemplary, the environment of task location be typhoon, closely the adverse circumstances such as lightning, heavy rain or sandstorm when,
Beyond the normal work energy force environment of unmanned plane, then " bad environments cannot to service terminal and/or control centre's transmission for unmanned plane
Operation " information, and enter automatic mode, interrupt task simultaneously returns bus stop, it is to avoid because adverse circumstances cause unmanned plane to be received
The situation of damage.
Embodiment three
Fig. 3 A are the flow charts of the unmanned plane task executing method that the embodiment of the present invention three is provided, in the base of above-described embodiment
On plinth, further unmanned plane is carried out into data in the task of execution by wireless network and service terminal and/or control centre
Interaction optimizing is：When unmanned plane is in the task of execution, unmanned plane determines unmanned plane with service terminal and/or the optimum of control centre
Connected mode；Unmanned plane carries out data interaction according to optimum connected mode with service terminal and/or control centre.Accordingly, should
Method is specifically included：
S310, service terminal receive the mission bit stream that unmanned plane is performed.
Wherein, mission bit stream include unmanned plane perform task task location and task type, service terminal be located at according to
According in the bus stop that default distribution mode is distributed or outside bus stop.
S320, service terminal determine the unmanned plane of execution task according to mission bit stream, and send tasks carrying to unmanned plane
Instruction.
Wherein, task-performance instructions are generated by service terminal or control centre according to mission bit stream, and unmanned plane is rested in
In the bus stop that service terminal is located.
S330, unmanned plane receive task-performance instructions, and perform task according to task-performance instructions.
S340, when unmanned plane is in the task of execution, unmanned plane determines unmanned plane and service terminal and/or control centre most
Excellent connected mode.
In the present embodiment, unmanned plane is interacted by wireless network with service terminal and/or control centre, exemplary
, can be by mobile phone mobile data network, WIFI network or blueteeth network etc..If unmanned plane and service terminal and/or control
Farther out, and unmanned plane carries mobile data network SIM (Subscriber Identity Module, Ke Hushi to centre distance
Other module) card, then mobile phone mobile data network can be defined as optimum connected mode, if unmanned plane and service terminal and/or control
Centre distance processed is nearer, and unmanned plane can connect the stronger WIFI network of signal, then WIFI network can be defined as into optimum connection
Mode.
S350, unmanned plane carry out data interaction according to optimum connected mode with service terminal and/or control centre.
In the present embodiment, unmanned plane sends the data message obtained in task process is performed by optimum connected mode
To service terminal and/or control centre, the efficiency of transmission of data message is improve, it is ensured that data message is not lost.
Preferably, unmanned plane carries out data interaction by wireless network and service terminal and/or control centre, including：
Unmanned plane carries out data interaction by wireless network and control centre；Or
Unmanned plane carries out data interaction by wireless network and service terminal, and service terminal is by wireless network and/or admittedly
Determine broadband network and/or proprietary network carries out data interaction with control centre.
In the present embodiment, unmanned plane can have following two modes with the interactive mode of control centre：On the one hand, unmanned plane
Data interaction is carried out by wireless network and control centre, it is exemplary, can be by mobile phone mobile data network, WIFI nets
The mode such as network or blueteeth network.On the other hand, when the wireless network of unmanned plane and control centre has some setbacks, unmanned plane can lead to
Cross wireless network carries out data interaction with service terminal, then sends data to control centre through service terminal, wherein, service
Terminal can be realized by wireless network and/or fixed broadband network and/or proprietary network with the interactive mode of control centre,
It is that the service terminal that the embodiment of the present invention three is provided connects with the wireless network of control centre referring to Fig. 3 B, Fig. 3 C and Fig. 3 D, Fig. 3 B
Schematic diagram is connect, Fig. 3 C are the fixed broadband network connection signals of the service terminal that the embodiment of the present invention three is provided and control centre
Figure, Fig. 3 D are the proprietary network connection diagrams of the service terminal that the embodiment of the present invention three is provided and control centre.Exemplary,
Fixed broadband network can be mobile broadband network or UNICOM's broadband network etc., wherein, proprietary network is referred to for realizing
The dedicated network that interaction and multiple service terminals between multiple service terminals is interacted with control centre.Pass through in the present embodiment
Various ways realize the data interaction of unmanned plane and service terminal and/or control centre, when solving a kind of interactive mode failure,
Unmanned plane cannot transmission data problem.
The technical scheme of the present embodiment, by determining unmanned plane with service terminal and/or control when unmanned plane performs task
The optimum connected mode at center processed, and data interaction is carried out according to optimum connected mode and service terminal and/or control centre, carry
The high efficiency of transmission of data message.
On the basis of above-described embodiment, step S350 can also be：
If detecting unmanned plane with service terminal and/or the disconnecting of control centre, unmanned plane enters automatic mode,
Bus stop, and store tasks data are returned after according to task-performance instructions execution task.
Wherein, disconnecting refers to unmanned plane cannot be carried out in the task of execution with service terminal and/or control centre
Data interaction, it is impossible to receive the control instruction that service terminal and/or control centre send.When unmanned plane is detected and service terminal
And/or control centre disconnecting when, if unmanned plane current state be automatic mode, continue to be held according to task-performance instructions
Row task, by the memory cell of the data information memory to unmanned plane obtained during tasks carrying, after the completion of task automatically
Return bus stop；If unmanned plane current state is control model, automatic mode is automatically switched to, and detect whether to complete to appoint
Business, if so, then auto-returned bus stop, if it is not, then performing the task in automatic mode, and will obtain during tasks carrying
Data information memory to unmanned plane memory cell, the auto-returned bus stop after the completion of task.
In the present embodiment, unmanned plane in the disconnecting with service terminal and/or control centre, automatically into automatic mold
Formula, the data obtained during tasks carrying are carried out locally stored, and the auto-returned bus stop after the completion of task, it is to avoid
When unmanned plane is in the disconnecting with service terminal and/or control centre, it is impossible to complete task, it is impossible to service terminal and/
Or control centre carries out data interaction and causes the problem of loss of data.
Example IV
Fig. 4 is the structural representation of the unmanned plane task execution system that the embodiment of the present invention four is provided, and the system is applied to
Unmanned plane task executing method provided in an embodiment of the present invention is performed, the system specifically can include：
Service terminal 410, for receiving the mission bit stream of unmanned plane execution, according to mission bit stream the nothing of execution task is determined
Man-machine 420, and to unmanned plane 420 send task-performance instructions, mission bit stream include unmanned plane perform task task location with
And task type, by service terminal or control centre according to mission bit stream generation, service terminal 410 is located at task-performance instructions
According in the bus stop of default distribution mode distribution or outside bus stop；
Unmanned plane 420, for receiving task-performance instructions, and performs task, when unmanned plane 420 according to task-performance instructions
In the task of execution, data interaction, unmanned plane 420 are carried out by wireless network and service terminal 410 and/or control centre 430
In resting in the bus stop at the place of service terminal 420；
Control centre 430, for sending mission bit stream or task-performance instructions to service terminal 410, with service terminal
410 and/or unmanned plane 420 carry out data interaction, send control letter to service terminal 410 and/or unmanned plane 420 according to data
Breath.
Optionally, bus stop is arranged according to the radius of action of geographic area and/or unmanned plane, and each bus stop correspondence is extremely
A few service terminal 410, the radius of action of unmanned plane is true according to the endurance of unmanned plane and/or the functional module of carrying
It is fixed.
Optionally, unmanned plane 420 specifically for：
If task-performance instructions are patrol missions, unmanned plane carries patrol rail of the video camera in task-performance instructions
Mark is on a patrol duty；Or, if task-performance instructions are propagandaed directed to communicate and/or during interactive task, unmanned plane carries speech player
Voice messaging is played in the task location with voice receiver, or On-the-spot Interaction and crowd's dialogue is carried out in task location,
Voice messaging is sent to unmanned plane by control centre；Or, watch task if the task-performance instructions are accidents, it is described nobody
Machine carries the video camera and flies to task location and obtain the pictorial information or audio/video information of the task location；Or
Person, if task-performance instructions are input tasks, unmanned plane carries object to be put and is thrown in task location, object to be put
Determined according to mission bit stream.
Optionally, unmanned plane 420 also includes：
Control instruction detection module, for detecting whether there is the control data of control centre；If nothing, unmanned plane is entered certainly
Dynamic model formula, according to task-performance instructions task is performed；If so, unmanned plane enters control model, control instruction is received, according to control
Instruction execution task, wherein, control centre sends control instruction by joystick and/or computer to unmanned plane.
Optionally, unmanned plane 420 also includes：
Electric power detection module, for automatic detection information about power, if detecting information about power less than default electricity, unmanned plane
Into automatic mode, interrupt task simultaneously returns bus stop and automatic charging.
Optionally, unmanned plane 420 also includes：
Connected mode selecting module, in the task of execution, unmanned plane to determine unmanned plane with service terminal and/or control
The optimum connected mode at center；
Data interaction module, for according to optimum connected mode, with service terminal and/or control centre data friendship being carried out
Mutually.
Optionally, unmanned plane 420 also includes：
Disconnecting processing module, if for detecting unmanned plane and service terminal and/or the disconnecting of control centre,
Then unmanned plane enters automatic mode, further according to returning bus stop, and store tasks data after task-performance instructions execution task.
Optionally, data interaction module specifically for：
Unmanned plane carries out data interaction by wireless network and control centre；Or unmanned plane is by wireless network and service
Terminal carries out data interaction, and service terminal is by wireless network and/or fixed broadband network and/or proprietary network and control centre
Carry out data interaction.
Unmanned plane task execution system provided in an embodiment of the present invention can perform the nothing that any embodiment of the present invention is provided
Man-machine task executing method, possesses the corresponding functional module of execution method and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (16)
1. a kind of unmanned plane task executing method, it is characterised in that include：
Service terminal receives the mission bit stream that unmanned plane is performed, and the mission bit stream includes that unmanned plane performs the task location of task
And task type, the service terminal is in the bus stop according to default distribution mode distribution or outside bus stop；
The service terminal determines the unmanned plane for performing the task according to the mission bit stream, and appoints to unmanned plane transmission
Business execute instruction, the task-performance instructions are generated by the service terminal or control centre according to the mission bit stream, institute
State unmanned plane to rest in the bus stop that the service terminal is located；
The unmanned plane receives the task-performance instructions, and performs the task according to the task-performance instructions, when described
Unmanned plane carries out data interaction by wireless network when the task is performed with the service terminal and/or control centre.
2. method according to claim 1, it is characterised in that the service terminal is located at according to default distribution mode distribution
Bus stop in or bus stop outside, including：
The bus stop is arranged according to the radius of action of geographic area and/or the unmanned plane, each described bus stop correspondence
At least one service terminal, the radius of action of the unmanned plane is according to the endurance of the unmanned plane and/or the function of carrying
Module determines.
3. method according to claim 1, it is characterised in that the unmanned plane performs institute according to the task-performance instructions
Task is stated, including：
If the task-performance instructions are patrol missions, the unmanned plane carries video camera according in the task-performance instructions
Patrol track perform the patrol mission；
Or, if the task-performance instructions are propagandaed directed to communicate and/or during interactive task, the unmanned plane carries speech player and language
Sound receiver plays voice messaging in the task location, or carries out On-the-spot Interaction and crowd's dialogue in task location；
Or, if the task-performance instructions are scenes watching task, the unmanned plane carries the video camera and flies to task
Position simultaneously obtains the pictorial information or audio/video information of the task location；
Or, if the task-performance instructions are input tasks, the unmanned plane carries object to be put in the task location
Thrown in, the object to be put determines according to the mission bit stream.
4. method according to claim 1, it is characterised in that the unmanned plane performs institute according to the task-performance instructions
Task is stated, is also included：
The unmanned plane detects whether the control data that there is the control centre；
If nothing, the unmanned plane enters automatic mode, and according to the task-performance instructions task is performed；
If so, the unmanned plane enters control model, receives control instruction, and according to the control instruction task is performed, its
In, the control centre sends the control instruction by joystick and/or computer to the unmanned plane.
5. method according to claim 4, it is characterised in that the unmanned plane performs institute according to the task-performance instructions
Task is stated, is also included：
The unmanned plane automatic detection information about power, if detecting the information about power less than default electricity, the unmanned plane enters
Enter the automatic mode, interrupt task simultaneously returns the bus stop and automatic charging.
6. method according to claim 1, it is characterised in that when the unmanned plane is when the task is performed, by nothing
Gauze network carries out data interaction with the service terminal and/or control centre, including：
When the unmanned plane is when the task is performed, the unmanned plane determine the unmanned plane and the service terminal and/or
The optimum connected mode of control centre；
The unmanned plane carries out data interaction according to the optimum connected mode with the service terminal and/or control centre.
7. method according to claim 6, it is characterised in that when the unmanned plane is when the task is performed, by nothing
Gauze network carries out data interaction with the service terminal and/or control centre, also includes：
If detecting the unmanned plane and the service terminal and/or the disconnecting of control centre, the unmanned plane is entered
Automatic mode, after the task is performed according to the task-performance instructions bus stop, and store tasks data are returned.
8. according to the arbitrary described method of claim 1-7, it is characterised in that the unmanned plane is by wireless network and the clothes
Business terminal and/or control centre carry out data interaction, including：
The unmanned plane carries out data interaction by wireless network and control centre；Or
The unmanned plane carries out data interaction by wireless network and the service terminal, and the service terminal passes through wireless network
And/or fixed broadband network and/or proprietary network carry out data interaction with the control centre.
9. a kind of unmanned plane task execution system, it is characterised in that include：
Service terminal, for receiving the mission bit stream of unmanned plane execution, determines according to the mission bit stream and performs the task
Unmanned plane, and task-performance instructions are sent to the unmanned plane, the mission bit stream includes that unmanned plane performs the task position of task
Put and task type, the task-performance instructions are given birth to by the service terminal or control centre according to the mission bit stream
Into the service terminal is located at according in default distribution mode distribution bus stop；
Unmanned plane, for receiving the task-performance instructions, and performs the task, when described according to the task-performance instructions
Unmanned plane carries out data interaction, institute by wireless network when the task is performed with the service terminal and/or control centre
State unmanned plane to rest in the bus stop that the service terminal is located；
Control centre, for sending the mission bit stream or task-performance instructions to the service terminal, with the service eventually
End and/or the unmanned plane carry out data interaction, and letter is sent to the service terminal and/or the unmanned plane according to the data
Breath.
10. system according to claim 9, it is characterised in that the bus stop according to geographic area and/or it is described nobody
The radius of action of machine is arranged, each at least one service terminal of the bus stop correspondence, the radius of action root of the unmanned plane
Determine according to the endurance of the unmanned plane and/or the functional module of carrying.
11. systems according to claim 9, it is characterised in that the unmanned plane specifically for：
If the task-performance instructions are patrol missions, the unmanned plane carries video camera according in the task-performance instructions
Patrol track perform the patrol mission；Or, it is described if the task-performance instructions are propagandaed directed to communicate and/or during interactive task
Unmanned plane carries speech player and voice receiver and plays voice messaging in the task location, or carries out in task location
On-the-spot Interaction and crowd talk with, and the voice messaging is sent to the unmanned plane by the control centre；Or, if described
Business execute instruction is that accident watches task, and the unmanned plane carries the video camera and flies to task location and obtain the task
The pictorial information or audio/video information of position；Or, if the task-performance instructions are input tasks, the unmanned plane is carried
Object to be put is thrown in the task location, and the object to be put determines according to the mission bit stream.
12. systems according to claim 9, it is characterised in that the unmanned plane also includes：
Control instruction detection module, for detecting whether there is the control data of the control centre；If nothing, the unmanned plane enters
Enter automatic mode, according to the task-performance instructions task is performed；If so, the unmanned plane enters control model, receives
Control instruction, according to the control instruction task is performed, wherein, the control centre is by joystick and/or calculating
Machine to the unmanned plane sends the control instruction.
13. systems according to claim 12, it is characterised in that the unmanned plane also includes：
Electric power detection module, for automatic detection information about power, if detecting the information about power less than default electricity, the nothing
It is man-machine into the automatic mode, interrupt task simultaneously returns the bus stop and automatic charging.
14. systems according to claim 9, it is characterised in that the unmanned plane also includes：
Connected mode determining module, for when the task is performed, the unmanned plane to determine the unmanned plane with the service
Terminal and/or the optimum connected mode of control centre；
Data interaction module, for according to the optimum connected mode, with the service terminal and/or control centre data being carried out
Interaction.
15. systems according to claim 14, it is characterised in that the unmanned plane also includes：
Disconnecting processing module, if the connection for detecting the unmanned plane and the service terminal and/or control centre
Interrupt, then the unmanned plane enters automatic mode, stop described in return after the task is performed according to the task-performance instructions
Pull in, and store tasks data.
16. according to the arbitrary described system of claim 9-15, it is characterised in that the data interaction module specifically for：
The unmanned plane carries out data interaction by wireless network and control centre；Or the unmanned plane by wireless network with
The service terminal carries out data interaction, and the service terminal is by wireless network and/or fixed broadband network and/or proprietary net
Network carries out data interaction with the control centre.
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