CN106656310B - Unmanned aerial vehicle task execution method and system - Google Patents
Unmanned aerial vehicle task execution method and system Download PDFInfo
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- CN106656310B CN106656310B CN201710015622.5A CN201710015622A CN106656310B CN 106656310 B CN106656310 B CN 106656310B CN 201710015622 A CN201710015622 A CN 201710015622A CN 106656310 B CN106656310 B CN 106656310B
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Abstract
The embodiment of the invention discloses a task execution method and a task execution system for an unmanned aerial vehicle, wherein the method comprises the following steps: the method comprises the steps that a service terminal unmanned aerial vehicle stop station receives task information executed by an unmanned aerial vehicle, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle for executing a task, and service terminals are located in the stop station or outside the stop station distributed according to a preset distribution mode; the service terminal determines an unmanned aerial vehicle for executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle, and the task execution instruction is generated by the service terminal or the control center according to the task information; the unmanned aerial vehicle receives the task execution instruction, executes the task according to the task execution instruction, and performs data interaction with the service terminal and/or the control center through the wireless network when the unmanned aerial vehicle executes the task. The embodiment of the invention solves the problem that the unmanned aerial vehicle cannot reach the task position in the fastest time when receiving the task information, and realizes that the unmanned aerial vehicle quickly and efficiently reaches the incident scene and executes the task.
Description
Technical Field
The embodiment of the invention relates to an unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle task execution method and system.
Background
With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicles are gradually gaining wide application in the security field.
The security protection unmanned aerial vehicle has with low costs, flexible operation and characteristics such as can the super low-altitude flight, and unmanned aerial vehicle can accomplish special task aloft, including carrying high sensitivity camera or camera and carrying out incessant shooting, acquires the scene of a problem image data and passes ground back, supplies commander to carry out scientific decision, or can shout aloft, effectual transmission ground police's warning intention, avoids major accident to take place.
At present, the alert full integration emergency system of using of complete intelligent unmanned aerial vehicle includes: load unmanned aerial vehicle's professional police car, unmanned aerial vehicle, unmanned signal ground receiving station, data transmission processing system, unmanned aerial vehicle control platform, ground station monitoring station and unmanned aerial vehicle private communication equipment. The equipment can be generally integrated in a police car, and when an emergency occurs, all the equipment can be conveniently and quickly transported to an incident site at any time. However, the whole process from receiving the report information to the arrival of the police car at the scene of the incident, opening the whole system and controlling the unmanned aerial vehicle to detect the scene situation takes at least half an hour or more. However, most emergency events occur in a short time, the intelligent unmanned aerial vehicle police fully-integrated emergency system cannot catch the scene of the incident at the shortest time when the event occurs, and cannot kill major events at the initial stage.
Disclosure of Invention
The invention provides a task execution method and system for an unmanned aerial vehicle, which are used for realizing that the unmanned aerial vehicle quickly and efficiently arrives at an incident scene and executes tasks.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle task execution method, where the method includes:
the method comprises the steps that a service terminal receives task information executed by an unmanned aerial vehicle, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle for executing a task, and the service terminal is located in or outside a stop station distributed according to a preset distribution mode;
the service terminal determines an unmanned aerial vehicle for executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle, the task execution instruction is generated by the service terminal or the control center according to the task information, and the unmanned aerial vehicle stops at a stop station where the service terminal is located;
and the unmanned aerial vehicle receives the task execution instruction, executes the task according to the task execution instruction, and performs data interaction with the service terminal and/or the control center through a wireless network when the unmanned aerial vehicle executes the task.
Further, the service terminal is located in or outside the docking station distributed according to a preset distribution mode, and includes:
the system comprises unmanned aerial vehicles and docking stations, wherein the docking stations are arranged according to a geographical area and/or the movable radius of the unmanned aerial vehicles, each docking station corresponds to at least one service terminal, and the movable radius of the unmanned aerial vehicles is determined according to the cruising ability of the unmanned aerial vehicles and/or carried functional modules.
Further, the unmanned aerial vehicle executes the task according to the task execution instruction, including:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction;
or if the task execution instruction is a shouting and/or interactive task, the unmanned aerial vehicle carries a voice player and a voice receiver to play voice information at the task position, or performs on-site interaction and crowd conversation at the task position, and the voice information is sent to the unmanned aerial vehicle by the control center;
or if the task execution instruction is an accident viewing task, the unmanned aerial vehicle carries the camera to fly to a task position and acquires picture information or audio and video information of the task position;
or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown at the task position for throwing, and the object to be thrown is determined according to the task information.
Further, the unmanned aerial vehicle executes the task according to the task execution instruction, and further includes:
the unmanned aerial vehicle detects whether a control request of the control center exists or not;
if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction;
if yes, the unmanned aerial vehicle enters a control mode, receives a control command, and executes the task according to the control command, wherein the control center sends the control command to the unmanned aerial vehicle through a control handle and/or a computer.
Further, the unmanned aerial vehicle executes the task according to the task execution instruction, and further includes:
the unmanned aerial vehicle automatic detection electric quantity information, if detect electric quantity information is less than predetermineeing the electric quantity, unmanned aerial vehicle gets into automatic mode, interrupts the task and returns the stop and automatic charging.
Further, when the unmanned aerial vehicle is performing the task, performing data interaction with the service terminal and/or the control center through a wireless network, including:
when the unmanned aerial vehicle executes the task, the unmanned aerial vehicle determines an optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center;
and the unmanned aerial vehicle performs data interaction with the service terminal and/or the control center according to the optimal connection mode.
Further, when the unmanned aerial vehicle is executing the task, performing data interaction with the service terminal and/or the control center through a wireless network, further comprising:
and if the connection between the unmanned aerial vehicle and the service terminal and/or the control center is interrupted, the unmanned aerial vehicle enters an automatic mode, returns to the stop station after executing the task according to the task execution instruction, and stores task data.
Further, the data interaction between the unmanned aerial vehicle and the service terminal and/or the control center through the wireless network includes:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or
The unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through a wireless network and/or a fixed broadband network and/or a proprietary network.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle task execution system, where the system includes:
the service terminal is used for receiving task information executed by the unmanned aerial vehicle, determining the unmanned aerial vehicle executing the task according to the task information, and sending a task execution instruction to the unmanned aerial vehicle, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle executing the task, the task execution instruction is generated by the service terminal or the control center according to the task information, and the service terminal is positioned in or outside the docking stations distributed according to a preset distribution mode;
the unmanned aerial vehicle is used for receiving the task execution instruction, executing the task according to the task execution instruction, and performing data interaction with the service terminal and/or the control center through a wireless network when the unmanned aerial vehicle executes the task, wherein the unmanned aerial vehicle stops at a stop station where the service terminal is located;
and the control center is used for sending the task information or the task execution instruction to the service terminal, performing data interaction with the service terminal and/or the unmanned aerial vehicle, and sending information to the service terminal and/or the unmanned aerial vehicle according to the data.
Furthermore, the docking stations are arranged according to a geographic area and/or the active radius of the unmanned aerial vehicle, each docking station corresponds to at least one service terminal, and the active radius of the unmanned aerial vehicle is determined according to the cruising ability of the unmanned aerial vehicle and/or the carried functional module.
Further, the unmanned aerial vehicle is specifically configured to:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction; or if the task execution instruction is a shouting and/or interactive task, the unmanned aerial vehicle carries a voice player and a voice receiver to play voice information at the task position, or performs on-site interaction and crowd conversation at the task position, and the voice information is sent to the unmanned aerial vehicle by the control center; or if the task execution instruction is an accident viewing task, the unmanned aerial vehicle carries the camera to fly to a task position and acquires picture information or audio and video information of the task position; or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown at the task position for throwing, and the object to be thrown is determined according to the task information.
Further, the unmanned aerial vehicle further includes:
the control instruction detection module is used for detecting whether a control request of the control center exists or not; if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction; if yes, the unmanned aerial vehicle enters a control mode, receives a control command, and executes the task according to the control command, wherein the control center sends the control command to the unmanned aerial vehicle through a control handle and/or a computer.
Further, the unmanned aerial vehicle further includes:
the electric quantity detection module is used for automatically detecting electric quantity information, if the electric quantity information is smaller than preset electric quantity, the unmanned aerial vehicle enters the automatic mode, interrupts tasks and returns to the stop station and automatically charges.
Further, the unmanned aerial vehicle further includes:
the connection mode selection module is used for determining the optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center when the task is executed;
and the data interaction module is used for performing data interaction with the service terminal and/or the control center according to the optimal connection mode.
Further, the unmanned aerial vehicle further includes:
and the connection interruption processing module is used for entering an automatic mode if the connection interruption of the unmanned aerial vehicle and the service terminal and/or the control center is detected, returning to the stop station after the task is executed according to the task execution instruction, and storing task data.
Further, the data interaction module is specifically configured to:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or the unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through the wireless network and/or a fixed broadband network and/or a private network.
According to the embodiment of the invention, the service terminals distributed at different docking stations receive the task information, the task execution instruction is generated according to the task information, or the task execution instruction of the control center is directly received, the unmanned aerial vehicle executing the instruction is determined, and the task is executed when the unmanned aerial vehicle receives the task execution instruction. The unmanned aerial vehicle flies to the task position and executes the task immediately when receiving the task execution instruction, the problem that the unmanned aerial vehicle cannot reach the task position in the shortest time when receiving task information is solved instead of conveying the unmanned aerial vehicle to the task position through a police car to execute the task in the prior art, and the unmanned aerial vehicle can quickly and efficiently reach an incident scene and execute the task.
Drawings
FIG. 1A is a schematic diagram of an application scenario of an embodiment of the present invention;
fig. 1B is a flowchart of a task execution method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 1C is a schematic diagram of distribution of service terminals according to an embodiment of the present invention;
fig. 2 is a flowchart of a task execution method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3A is a flowchart of a task execution method for an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 3B is a schematic diagram of a wireless network connection between a service terminal and a control center according to a third embodiment of the present invention;
fig. 3C is a schematic diagram of a connection between a service terminal and a fixed broadband network of a control center according to a third embodiment of the present invention;
fig. 3D is a schematic diagram of a proprietary network connection between a service terminal and a control center according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle task execution device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Referring to fig. 1A, fig. 1A is a schematic view of an application scenario of the embodiment of the present invention. The unmanned aerial vehicle 101 interacts with the service terminal 102 and the control center 103 through a wireless network, and the service terminal 102 interacts with the control center 103 through a wireless network or a wired network. The plurality of service terminals 102 are distributed in different docking stations, and the service terminals 102 may receive the task information sent by the control center 103 and call the unmanned aerial vehicles 101 in the docking station to execute the task, where one or more unmanned aerial vehicles 101 may reside in each docking station. The control center 103 may receive data information directly sent by the drone 101 or data information transmitted by the drone 101 through the service terminal 102, or may send a control instruction to the drone 101 through a wireless network to control the drone 101 to execute a task. The control center 103 is disposed in a fixed building, for example, may be a public safety command center of the whole area, or may be disposed in a vehicle, or may form a movable sub-control center through authorized personnel, and the sub-control center and the control center may interact with each other, and may acquire data information sent by the unmanned aerial vehicle 101 alone or cooperatively, or control the unmanned aerial vehicle 101.
Example one
Fig. 1B is a flowchart of a task execution method for an unmanned aerial vehicle according to an embodiment of the present invention, where this embodiment is applicable to a situation where an unmanned aerial vehicle quickly arrives at a task location and executes a task according to task information, and the method can be executed by the task execution system for an unmanned aerial vehicle according to the embodiment of the present invention, and specifically includes the following steps:
s110, the service terminal receives task information executed by the unmanned aerial vehicle, the task information comprises a task position and a task type of the unmanned aerial vehicle for executing the task, and the service terminal is located in a stop or outside the stop distributed according to a preset distribution mode.
The unmanned aerial vehicle refers to an unmanned aerial vehicle operated by a radio remote control device and/or a self-contained program control device, and ground workers can track, position, remotely control, telemeter or transmit data and the like through radars or self-contained navigation equipment.
The task information includes a task position and a task type of the unmanned aerial vehicle to execute the task, for example, the task position of the unmanned aerial vehicle to execute the task may be obtained by a GPS (Global Positioning System) mode or other navigation and Positioning systems, and the task type may be a patrol task, a shout and/or an interactive task, a live view or a release task, and the like. The task information can be determined by the control center according to the alarm information and sent to the corresponding service terminal, or the community residents directly send the alarm information to the corresponding service terminal of the community through a special alarm device arranged in the community, the service terminal determines the task information according to the alarm information, or the authorized police directly send the task information to the server, wherein the alarm information can include but is not limited to bandit alarm information, fire alarm information, rescue alarm information, emergency alarm information or engineering assistance alarm information and the like. Illustratively, a community resident can send alarm information to a service terminal through a button in a special alarm device, and call an unmanned aerial vehicle to rapidly reach the area where the special alarm device is located, wherein a plurality of special alarm devices can be installed in the area corresponding to each service terminal.
In this embodiment, each docking station is provided with one service terminal, and the service terminals are arranged in different docking stations distributed according to a preset distribution mode.
Preferably, the service terminals are located in or outside the docking stations distributed according to the preset distribution mode, and specifically may be:
the system comprises a plurality of unmanned aerial vehicles, wherein the unmanned aerial vehicles are arranged in a parking lot, the parking lots are arranged according to a geographical area and/or the movable radius of the unmanned aerial vehicles, each parking lot corresponds to one service terminal, and the movable radius of the unmanned aerial vehicles is determined according to the cruising ability of the unmanned aerial vehicles and/or the carried functional modules.
The distribution mode of the stop stations can be divided according to the size of the geographic area, the stop stations and the service terminals are arranged in each geographic area, illustratively, the city is uniformly divided into a plurality of blocks, the stop stations and the service terminals are respectively arranged in each block, specifically, the service terminals can be arranged in the stop stations, can be arranged in the area outside the stop stations, and can also be arranged on the unmanned aerial vehicle. As shown in fig. 1C, fig. 1C is a schematic diagram of distribution of service terminals according to an embodiment of the present invention.
It should be noted that the docking station may correspond to one or more service terminals, and one service terminal may also correspond to a plurality of docking stations in the area. For example, the number of the docking stations and the number of the service terminals may be determined according to the task execution frequency recorded in the history in the area corresponding to the docking station. The different service terminals can cooperate with each other to call the unmanned aerial vehicles in different docking stations, and the unmanned aerial vehicles can dock at different docking stations according to tasks and the situations.
The distribution mode of the stop can also be set according to the movable radius of the unmanned aerial vehicle, and the block corresponding to the service terminal can be centered on the stop and takes the movable radius of the unmanned aerial vehicle as a circular area or other irregular-shaped areas. The active radius of the unmanned aerial vehicle refers to the maximum distance that the unmanned aerial vehicle can fly back and forth once, and the active radius of the unmanned aerial vehicle is determined by the endurance capacity of the unmanned aerial vehicle and/or the carried functional module, wherein the endurance capacity of the unmanned aerial vehicle refers to the maximum distance that the unmanned aerial vehicle can fly continuously and uninterruptedly once, and can be 1-10 kilometers for example, and if the unmanned aerial vehicle carries a large-capacity battery or a fuel engine, the endurance capacity of the unmanned aerial vehicle can be improved.
And S120, the service terminal determines the unmanned aerial vehicle for executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle, the task execution instruction is generated by the service terminal or the control center according to the task information, and the unmanned aerial vehicle stops in a stop station corresponding to the service terminal.
Wherein, dispose at least an unmanned aerial vehicle in each docking station and dwell, different unmanned aerial vehicles dispose different functional device, exemplarily, unmanned aerial vehicle can be configured with one or more functional device such as high definition camera, pronunciation player and pronunciation receiver, tear-gas shells or smog bullet. The service terminal receives the task information, and determines the unmanned aerial vehicle executing the task according to the task information, wherein the unmanned aerial vehicle is determined to be configured with corresponding functional equipment according to the task type, and the unmanned aerial vehicle with corresponding cruising ability is determined according to the task position.
Preferably, the service terminal can directly receive the task execution instruction sent by the control center or authorized staff, and the service terminal sends the task execution instruction to the corresponding unmanned aerial vehicle. A plurality of service terminals can cooperate with each other to manage the unmanned aerial vehicles in different docking stations together.
The service terminal sends a task execution instruction to the corresponding unmanned aerial vehicle, the task execution instruction comprises task position information and task content, and the unmanned aerial vehicle determined by the service terminal stops in a stop covered by the service terminal.
S130, the unmanned aerial vehicle receives the task execution instruction, executes the task according to the task execution instruction, and performs data interaction with the service terminal and/or the control center through the wireless network when the unmanned aerial vehicle executes the task.
When the unmanned aerial vehicle does not receive the task execution instruction, the unmanned aerial vehicle stops at the corresponding stop station and charges automatically. When the unmanned aerial vehicle receives the task execution instruction, the unmanned aerial vehicle immediately reaches the task position and executes the task according to the task position information and the task content carried by the task execution instruction.
In the embodiment, the service terminal can determine the unmanned aerial vehicle for the designated task after receiving the task information, and send the task execution instruction to the unmanned aerial vehicle, and the time for the unmanned aerial vehicle to receive the task execution instruction and reach the task position is controlled to be the shortest time, so that relevant personnel can acquire the corresponding situation of the task site in the shortest time.
When the unmanned aerial vehicle executes the task, data information related to the task is acquired, and the data information comprises voice data, picture data, video data or state information and the like. For example, the data information may be picture information or audio/video information acquired when the unmanned aerial vehicle executes a patrol task; the data information can also be sound information heard by the unmanned aerial vehicle on the spot or delivery success information generated after the delivery task is completed and the like when the unmanned aerial vehicle executes the spot interaction or the delivery task. The unmanned aerial vehicle carries out data interaction with the service terminal and/or the control center through a wireless network, so that ground personnel can monitor the condition of the task position in real time through the unmanned aerial vehicle. The control center is used for receiving alarm information, determining task information according to the alarm information, sending the task information to the corresponding service terminal, receiving data sent by the unmanned aerial vehicle when the unmanned aerial vehicle executes a task, and meanwhile, controlling the unmanned aerial vehicle in real time. It should be noted that the drone may also interact with authorized personnel.
Preferably, the task executed by the drone according to the task execution instruction may further be:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction;
or if the task execution instruction is to call and/or interact with the task, the unmanned aerial vehicle carries the voice player and the voice receiver to play voice information at the task position, or carries out on-site interaction at the task position and talks with people;
or if the task execution instruction is a field observation task, the unmanned aerial vehicle flies to a task position with the camera and acquires picture information or audio/video information of the task position;
or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown to throw at the task position, and the object to be thrown is determined according to the task information.
If the task type in the task information received by the service terminal is a patrol task, the service terminal determines that the unmanned aerial vehicle carrying the camera is an unmanned aerial vehicle for executing the task, and sends a task execution instruction to the unmanned aerial vehicle, wherein the task execution instruction carries a patrol track of the patrol task. And after receiving the task execution instruction, the unmanned aerial vehicle immediately executes the patrol task according to the patrol track, shoots pictures or video information of the patrol track in the task execution process, and transmits the obtained pictures or video information to the service terminal and/or the control center in real time through a wireless network.
If the task type in the task information received by the service terminal is a shouting and/or interactive task, the service terminal determines that the unmanned aerial vehicle carrying the voice player and the voice receiver is an unmanned aerial vehicle for executing the task, and sends a task execution instruction to the unmanned aerial vehicle, and after the unmanned aerial vehicle receives the task execution instruction, the unmanned aerial vehicle immediately flies to a task position to perform on-site interaction and crowd conversation, or execute the shouting task according to the voice information sent by the control center.
If the task type in the task information received by the service terminal is a field observation task, the service terminal determines that the unmanned aerial vehicle carrying the camera is the unmanned aerial vehicle for executing the task, and sends a task execution instruction to the unmanned aerial vehicle, and after receiving the task execution instruction, the unmanned aerial vehicle immediately flies to the task position, acquires picture information or audio and video information of the task position, and transmits the acquired picture or audio and video information to the service terminal and/or the control center in real time through a wireless network.
If the task type in the task information received by the service terminal is a putting task, the service terminal determines that the unmanned aerial vehicle carrying the put object is an unmanned aerial vehicle executing the task, and sends a task execution instruction to the unmanned aerial vehicle, wherein the task information carries information of the object to be put, and the object to be put can be a tear-gas shells or smoke shells and the like. After receiving the task execution instruction, the unmanned aerial vehicle immediately flies to the task position to execute the releasing task, and after the object releasing is finished, the unmanned aerial vehicle sends releasing success information to the control center.
It should be noted that the task information may include one or more types of task places and task types, for example, if the alarm information is police information, the task type may be a shouting task and a throwing task determined according to the alarm information, the object to be thrown is a smoke bomb, and the service terminal determines the unmanned aerial vehicle capable of simultaneously performing the shouting task and the throwing task as the unmanned aerial vehicle performing the task according to the task information.
Optionally, the unmanned aerial vehicle task execution method may be applied to police security services and non-security services, for example, the unmanned aerial vehicle task execution method may be applied to an environmental protection department calling to check a condition of sewage or waste gas discharged from a certain factory, an electric power department calling to check a condition of an electric wire or a traffic department checking a traffic jam, and the like, and may also be applied to checking an electric meter, dispatching a leaflet, collecting important files, or quickly transferring articles in an area, and the like.
According to the technical scheme, the service terminals distributed at different stops receive the task information, the task execution instruction is generated according to the task information, the unmanned aerial vehicle executing the instruction is determined, and the unmanned aerial vehicle executes the task when receiving the task execution instruction. The unmanned aerial vehicle flies to the task position and executes the task immediately when receiving the task execution instruction, the problem that the unmanned aerial vehicle cannot reach the task position in the shortest time when receiving task information is solved instead of conveying the unmanned aerial vehicle to the task position through a police car to execute the task in the prior art, and the unmanned aerial vehicle can quickly and efficiently reach an incident scene and execute the task.
Example two
Fig. 2 is a flowchart of a task execution method for an unmanned aerial vehicle according to a second embodiment of the present invention, where on the basis of the above-mentioned embodiment, the unmanned aerial vehicle further detects whether there is a control request of a control center when the unmanned aerial vehicle executes a task according to a task execution instruction; if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction; if yes, the unmanned aerial vehicle enters a control mode, receives a control instruction and executes a task according to the control instruction, wherein the control center sends the control instruction to the unmanned aerial vehicle through a control handle and/or a computer. Correspondingly, the method specifically comprises the following steps:
s210, the service terminal receives task information executed by the unmanned aerial vehicle.
The task information comprises a task position and a task type of the unmanned aerial vehicle for executing the task, and the service terminal is located in the stop station or outside the stop station distributed according to the preset distribution mode.
S220, the service terminal determines the unmanned aerial vehicle executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle.
The task execution instruction is generated by the service terminal or the control center according to the task information, and the unmanned aerial vehicle stops in a stop station where the service terminal is located.
S230, the unmanned aerial vehicle receives the task execution instruction, and the unmanned aerial vehicle detects whether a control request of the control center exists. If yes, go to step S250, otherwise go to step S240.
In this embodiment, after receiving the task execution instruction, the unmanned aerial vehicle detects in real time whether there is a control request of a control center or an authorized worker during the task execution, and once the control request occurs, the unmanned aerial vehicle immediately switches to the control mode to execute the real-time control instruction.
The control instruction of the control center can be sent to the unmanned aerial vehicle through the wireless network, or the control center sends the control instruction to the service terminal corresponding to the unmanned aerial vehicle, and then the service terminal sends the control instruction to the unmanned aerial vehicle.
And S240, the unmanned aerial vehicle enters an automatic mode, executes the task according to the task execution instruction, and performs data interaction with the service terminal and/or the control center through the wireless network.
The automatic mode refers to that the unmanned aerial vehicle completes tasks according to a self control system under the condition that no external control instruction exists.
And if the unmanned aerial vehicle does not receive the control request sent by the control center in the task execution process, the unmanned aerial vehicle reaches the task position according to the task execution instruction, executes the task content, acquires corresponding task data information, transmits the corresponding task data information to the service terminal and/or the control center, and then automatically returns to the stop station.
In this embodiment, unmanned aerial vehicle can carry out the task according to the task execution instruction automatically, has solved among the prior art that unmanned aerial vehicle police must artifically 24 hours on duty with integrated emergency system, receives the problem of time and space constraint, has reduced police service personnel's work load, has shortened the reaction time to emergency, has improved work efficiency.
And S250, the unmanned aerial vehicle enters a control mode, receives a control instruction, executes a task according to the control instruction, and performs data interaction with the service terminal and/or the control center through the wireless network, wherein the control center sends the control instruction to the unmanned aerial vehicle through the control handle and/or the computer.
If the unmanned aerial vehicle detects that a control request sent by the control center exists in the task execution process, the unmanned aerial vehicle automatically switches from the automatic mode to the control mode, suspends the currently executed instruction, receives the control instruction sent by the control center or an authorized worker, and executes the control instruction. Wherein, the control command sent by the control center or authorized staff can be independently completed or combined through a control handle or a computer. For example, the flight direction and the flight state of the unmanned aerial vehicle may be controlled by a control handle, the unmanned aerial vehicle may be controlled by a computer or by a combination of the computer and the control handle to perform a task, or a control instruction may be sent to the unmanned aerial vehicle by sensing a gesture or idea of a controller, for example, the unmanned aerial vehicle may be controlled to fly to a predetermined position to release an object or take a picture.
In this embodiment, unmanned aerial vehicle can receive control center's control command in real time, carries out the task according to control command, has avoided when the incident appears, and unmanned aerial vehicle can't the automatic identification site conditions, can not be according to the problem of actual conditions adjustment task information.
According to the technical scheme, when the unmanned aerial vehicle executes the tasks, whether the control request sent by the control center exists is detected, if the control request exists, the control command is received and executed, if the control request does not exist, the unmanned aerial vehicle executes the tasks in the automatic mode, namely, the unmanned aerial vehicle can execute the tasks in the automatic mode, the workload of police officers is reduced, the tasks can also be executed according to the real-time control of the control center, and the emergency situation is avoided.
On the basis of the technical scheme, the unmanned aerial vehicle executes the task according to the task execution instruction, and further comprises:
unmanned aerial vehicle automated inspection electric quantity information, if it is less than preset the electric quantity to detect electric quantity information, unmanned aerial vehicle gets into automatic mode, interrupts the task and returns the stop and automatic charging.
When the unmanned aerial vehicle executes a task, the electric quantity information can be monitored in real time, and if the monitored electric quantity is smaller than the preset electric quantity, the unmanned aerial vehicle enters an automatic mode and returns to a stop station. Illustratively, if the current state of the unmanned aerial vehicle is in an automatic mode, the task is interrupted and the unmanned aerial vehicle returns to a stop station; and if the current state of the unmanned aerial vehicle is in the control mode, automatically switching to the automatic mode, interrupting the task and returning to the stop station. And when the unmanned aerial vehicle returns to the stop station due to insufficient electric quantity, the unmanned aerial vehicle sends the information of insufficient electric quantity to the control center. The preset electric quantity can be 10% of the total electric quantity, and the electric quantity required by the unmanned aerial vehicle to return to the stop station can also be determined by the unmanned aerial vehicle according to the distance between the current position and the stop station.
In this embodiment, through detecting electric quantity information, return the stop automatically when electric quantity information is less than preset electric quantity, avoided unmanned aerial vehicle to drop impaired or can't return the stop and lead to the condition that unmanned aerial vehicle loses because of the electric quantity is not enough when carrying out the task and lead to unmanned aerial vehicle.
Preferably, if the unmanned aerial vehicle detects that the environment of the task position exceeds the working environment of the unmanned aerial vehicle, the unmanned aerial vehicle enters an automatic mode, interrupts the task and returns to the stop station.
Illustratively, when the environment of the task position is severe environments such as typhoon, short-distance lightning, rainstorm or sand storm, and the like, and exceeds the normal working capacity environment of the unmanned aerial vehicle, the unmanned aerial vehicle sends 'operation failure in severe environment' information to the service terminal and/or the control center, and enters an automatic mode, the task is interrupted, and the unmanned aerial vehicle returns to a stop station, so that the condition that the unmanned aerial vehicle is damaged due to the severe environment is avoided.
EXAMPLE III
Fig. 3A is a flowchart of a task execution method for an unmanned aerial vehicle according to a third embodiment of the present invention, and based on the above embodiment, data interaction between the unmanned aerial vehicle and a service terminal and/or a control center is further optimized through a wireless network when the unmanned aerial vehicle executes a task: when the unmanned aerial vehicle executes a task, the unmanned aerial vehicle determines an optimal connection mode of the unmanned aerial vehicle and a service terminal and/or a control center; and the unmanned aerial vehicle performs data interaction with the service terminal and/or the control center according to the optimal connection mode. Correspondingly, the method specifically comprises the following steps:
s310, the service terminal receives task information executed by the unmanned aerial vehicle.
The task information comprises a task position and a task type of the unmanned aerial vehicle for executing the task, and the service terminal is located in the stop station or outside the stop station distributed according to the preset distribution mode.
S320, the service terminal determines the unmanned aerial vehicle executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle.
The task execution instruction is generated by the service terminal or the control center according to the task information, and the unmanned aerial vehicle stops in a stop station where the service terminal is located.
S330, the unmanned aerial vehicle receives the task execution instruction and executes the task according to the task execution instruction.
S340, when the unmanned aerial vehicle executes the task, the unmanned aerial vehicle determines the optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center.
In this embodiment, the unmanned aerial vehicle interacts with the service terminal and/or the control center through a wireless network, illustratively, a mobile data network, a WIFI network, a bluetooth network, or the like can be moved through a mobile phone. If the distance between the unmanned aerial vehicle and the service terminal and/or the control center is relatively long and the unmanned aerial vehicle carries a Subscriber Identity Module (SIM) card, the mobile data network of the mobile phone can be determined as the optimal connection mode, and if the distance between the unmanned aerial vehicle and the service terminal and/or the control center is relatively short and the unmanned aerial vehicle can be connected with a wireless fidelity (WIFI) network with relatively strong signals, the WIFI network can be determined as the optimal connection mode.
And S350, the unmanned aerial vehicle performs data interaction with the service terminal and/or the control center according to the optimal connection mode.
In the embodiment, the data information acquired by the unmanned aerial vehicle in the task execution process is sent to the service terminal and/or the control center in an optimal connection mode, so that the transmission efficiency of the data information is improved, and the data information is ensured not to be lost.
Preferably, the data interaction between the unmanned aerial vehicle and the service terminal and/or the control center through the wireless network includes:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or
The unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through the wireless network and/or a fixed broadband network and/or a proprietary network.
In this embodiment, the interaction mode between the unmanned aerial vehicle and the control center may be the following two modes: on the one hand, the unmanned aerial vehicle carries out data interaction with the control center through wireless network, and exemplarily, can be through modes such as cell-phone mobile data network, WIFI network or bluetooth network. On the other hand, when the wireless network between the unmanned aerial vehicle and the control center is not smooth, the unmanned aerial vehicle may perform data interaction with the service terminal through the wireless network, and transmit data to the control center through the service terminal, where an interaction manner between the service terminal and the control center may be implemented through the wireless network and/or a fixed broadband network and/or a proprietary network, see fig. 3B, fig. 3C, and fig. 3D, where fig. 3B is a schematic diagram of a wireless network connection between the service terminal and the control center provided by the third embodiment of the present invention, fig. 3C is a schematic diagram of a fixed broadband network connection between the service terminal and the control center provided by the third embodiment of the present invention, and fig. 3D is a schematic diagram of a proprietary network connection between the service terminal and the control center provided by the third. Illustratively, the fixed broadband network may be a mobile broadband network or a connected broadband network, etc., wherein the private network refers to a private network for enabling interaction between a plurality of service terminals and interaction between the plurality of service terminals and the control center. In this embodiment, data interaction between the unmanned aerial vehicle and the service terminal and/or the control center is realized through various modes, and the problem that the unmanned aerial vehicle cannot transmit data when one interaction mode fails is solved.
According to the technical scheme, the optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center is determined when the unmanned aerial vehicle executes the task, and data interaction is carried out between the unmanned aerial vehicle and the service terminal and/or the control center according to the optimal connection mode, so that the transmission efficiency of data information is improved.
On the basis of the above embodiment, step S350 may also be:
and if the connection between the unmanned aerial vehicle and the service terminal and/or the control center is interrupted, the unmanned aerial vehicle enters an automatic mode, returns to the stop station after executing the task according to the task execution instruction, and stores the task data.
The connection interruption means that the unmanned aerial vehicle cannot perform data interaction with the service terminal and/or the control center when executing a task, and cannot receive a control instruction sent by the service terminal and/or the control center. When the unmanned aerial vehicle detects that the connection with the service terminal and/or the control center is interrupted, if the current state of the unmanned aerial vehicle is in an automatic mode, continuing to execute a task according to a task execution instruction, storing data information acquired in the task execution process into a storage unit of the unmanned aerial vehicle, and automatically returning to a stop station after the task is completed; if the current state of the unmanned aerial vehicle is in a control mode, automatically switching to an automatic mode, detecting whether a task is completed or not, if so, automatically returning to a stop station, otherwise, executing the task in the automatic mode, storing data information acquired in the task execution process to a storage unit of the unmanned aerial vehicle, and automatically returning to the stop station after the task is completed.
In this embodiment, when the connection between the unmanned aerial vehicle and the service terminal and/or the control center is interrupted, the unmanned aerial vehicle automatically enters the automatic mode, locally stores data acquired in the task execution process, and automatically returns to the stop after the task is completed, so that the problem that the data is lost because the task cannot be completed and the data interaction between the unmanned aerial vehicle and the service terminal and/or the control center cannot be performed when the connection between the unmanned aerial vehicle and the service terminal and/or the control center is interrupted is solved.
Example four
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle task execution system provided in the fourth embodiment of the present invention, where the system is suitable for executing the unmanned aerial vehicle task execution method provided in the fourth embodiment of the present invention, and the system may specifically include:
the service terminal 410 is used for receiving task information executed by the unmanned aerial vehicle, determining the unmanned aerial vehicle 420 executing the task according to the task information, and sending a task execution instruction to the unmanned aerial vehicle 420, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle executing the task, the task execution instruction is generated by the service terminal or the control center according to the task information, and the service terminal 410 is located in a stop or outside the stop distributed according to a preset distribution mode;
the unmanned aerial vehicle 420 is used for receiving the task execution instruction, executing the task according to the task execution instruction, and performing data interaction with the service terminal 410 and/or the control center 430 through the wireless network when the unmanned aerial vehicle 420 executes the task, wherein the unmanned aerial vehicle 420 stops at a stop station where the service terminal 420 is located;
the control center 430 is configured to send task information or a task execution instruction to the service terminal 410, perform data interaction with the service terminal 410 and/or the drone 420, and send control information to the service terminal 410 and/or the drone 420 according to the data.
Optionally, the docking stations are set according to a geographic area and/or an active radius of the unmanned aerial vehicle, each docking station corresponds to at least one service terminal 410, and the active radius of the unmanned aerial vehicle is determined according to a cruising ability and/or a carried function module of the unmanned aerial vehicle.
Optionally, the drone 420 is specifically configured to:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction; or if the task execution instruction is a shouting and/or interactive task, the unmanned aerial vehicle carries the voice player and the voice receiver to play voice information at the task position, or performs on-site interaction and crowd conversation at the task position, and the voice information is sent to the unmanned aerial vehicle by the control center; or if the task execution instruction is an accident viewing task, the unmanned aerial vehicle carries the camera to fly to a task position and acquires picture information or audio and video information of the task position; or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown to throw at the task position, and the object to be thrown is determined according to the task information.
Optionally, the drone 420 further includes:
the control instruction detection module is used for detecting whether a control request of the control center exists or not; if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction; if yes, the unmanned aerial vehicle enters a control mode, receives a control instruction and executes a task according to the control instruction, wherein the control center sends the control instruction to the unmanned aerial vehicle through a control handle and/or a computer.
Optionally, the drone 420 further includes:
the electric quantity detection module is used for automatically detecting electric quantity information, if the electric quantity information is detected to be smaller than preset electric quantity, the unmanned aerial vehicle enters an automatic mode, interrupts a task and returns to a stop station and automatically charges.
Optionally, the drone 420 further includes:
the connection mode selection module is used for determining the optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center when the unmanned aerial vehicle executes a task;
and the data interaction module is used for performing data interaction with the service terminal and/or the control center according to the optimal connection mode.
Optionally, the drone 420 further includes:
and the connection interruption processing module is used for enabling the unmanned aerial vehicle to enter an automatic mode if the connection interruption between the unmanned aerial vehicle and the service terminal and/or the control center is detected, then returning to the stop station after executing the task according to the task execution instruction, and storing the task data.
Optionally, the data interaction module is specifically configured to:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or the unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through the wireless network and/or a fixed broadband network and/or a proprietary network.
The unmanned aerial vehicle task execution system provided by the embodiment of the invention can execute the unmanned aerial vehicle task execution method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. An unmanned aerial vehicle task execution method is characterized by comprising the following steps:
the method comprises the steps that a service terminal receives task information executed by an unmanned aerial vehicle, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle for executing a task, and the service terminal is located in or outside a stop station distributed according to a preset distribution mode;
the service terminal determines an unmanned aerial vehicle for executing the task according to the task information and sends a task execution instruction to the unmanned aerial vehicle, the task execution instruction is generated by the service terminal or the control center according to the task information, and the unmanned aerial vehicle stops at a stop station where the service terminal is located;
the system comprises unmanned aerial vehicles, a plurality of docking stations and a plurality of warning devices, wherein the docking stations are arranged according to a geographical area and/or the movable radius of the unmanned aerial vehicles, each docking station corresponds to at least one service terminal, each docking station is correspondingly provided with a warning device, and the movable radius of the unmanned aerial vehicles is determined according to the cruising ability of the unmanned aerial vehicles and/or the carried functional modules;
the unmanned aerial vehicle receives the task execution instruction, executes the task according to the task execution instruction, and performs data interaction with the service terminal and/or the control center through a wireless network when the unmanned aerial vehicle executes the task;
the unmanned aerial vehicle executes the task according to the task execution instruction, and the method further comprises the following steps:
the unmanned aerial vehicle detects whether a control request of the control center exists or not;
if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction;
if yes, the unmanned aerial vehicle enters a control mode, receives a control command, and executes the task according to the control command, wherein the control center sends the control command to the unmanned aerial vehicle through a control handle and/or a computer.
2. The method of claim 1, wherein the drone performs the task according to the task execution instructions, comprising:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction;
or if the task execution instruction is a shouting and/or interactive task, the unmanned aerial vehicle carries a voice player and a voice receiver to play voice information at the task position, or performs on-site interaction at the task position and talks with people;
or if the task execution instruction is a field observation task, the unmanned aerial vehicle carries the camera to fly to a task position and acquires picture information or audio/video information of the task position;
or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown at the task position for throwing, and the object to be thrown is determined according to the task information.
3. The method of claim 1, wherein the drone performs the task according to the task execution instructions, further comprising:
the unmanned aerial vehicle automatic detection electric quantity information, if detect electric quantity information is less than predetermineeing the electric quantity, unmanned aerial vehicle gets into automatic mode, interrupts the task and returns the stop and automatic charging.
4. The method of claim 1, wherein when the drone is performing the task, performing data interaction with the service terminal and/or control center over a wireless network comprises:
when the unmanned aerial vehicle executes the task, the unmanned aerial vehicle determines an optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center;
and the unmanned aerial vehicle performs data interaction with the service terminal and/or the control center according to the optimal connection mode.
5. The method of claim 4, wherein the drone performs data interaction with the service terminal and/or control center over a wireless network while performing the task, further comprising:
and if the connection between the unmanned aerial vehicle and the service terminal and/or the control center is interrupted, the unmanned aerial vehicle enters an automatic mode, returns to the stop station after executing the task according to the task execution instruction, and stores task data.
6. The method according to any one of claims 1 to 5, wherein the data interaction between the drone and the service terminal and/or the control center via a wireless network comprises:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or
The unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through a wireless network and/or a fixed broadband network and/or a proprietary network.
7. An unmanned aerial vehicle task execution system, comprising:
the service terminal is used for receiving task information executed by the unmanned aerial vehicle, determining the unmanned aerial vehicle executing the task according to the task information, and sending a task execution instruction to the unmanned aerial vehicle, wherein the task information comprises a task position and a task type of the unmanned aerial vehicle executing the task, the task execution instruction is generated by the service terminal or the control center according to the task information, and the service terminal is positioned in a docking station distributed according to a preset distribution mode;
the unmanned aerial vehicle is used for receiving the task execution instruction, executing the task according to the task execution instruction, and performing data interaction with the service terminal and/or the control center through a wireless network when the unmanned aerial vehicle executes the task, wherein the unmanned aerial vehicle stops at a stop station where the service terminal is located;
the system comprises unmanned aerial vehicles, a plurality of docking stations and a plurality of warning devices, wherein the docking stations are arranged according to a geographical area and/or the movable radius of the unmanned aerial vehicles, each docking station corresponds to at least one service terminal, each docking station is correspondingly provided with a warning device, and the movable radius of the unmanned aerial vehicles is determined according to the cruising ability of the unmanned aerial vehicles and/or the carried functional modules;
the control instruction detection module is used for detecting whether a control request of the control center exists or not; if not, the unmanned aerial vehicle enters an automatic mode and executes the task according to the task execution instruction; if so, the unmanned aerial vehicle enters a control mode, receives a control instruction, and executes the task according to the control instruction, wherein the control center sends the control instruction to the unmanned aerial vehicle through a control handle and/or a computer; and the control center is used for sending the task information or the task execution instruction to the service terminal, performing data interaction with the service terminal and/or the unmanned aerial vehicle, and sending information to the service terminal and/or the unmanned aerial vehicle according to the data.
8. The system of claim 7, wherein the drone is specifically configured to:
if the task execution instruction is a patrol task, the unmanned aerial vehicle carries a camera to execute the patrol task according to a patrol track in the task execution instruction; or if the task execution instruction is a shouting and/or interactive task, the unmanned aerial vehicle carries a voice player and a voice receiver to play voice information at the task position, or performs on-site interaction and crowd conversation at the task position, and the voice information is sent to the unmanned aerial vehicle by the control center; or if the task execution instruction is an accident viewing task, the unmanned aerial vehicle carries the camera to fly to a task position and acquires picture information or audio and video information of the task position; or if the task execution instruction is a task, the unmanned aerial vehicle carries an object to be thrown at the task position for throwing, and the object to be thrown is determined according to the task information.
9. The system of claim 7, wherein the drone further comprises:
the electric quantity detection module is used for automatically detecting electric quantity information, if the electric quantity information is smaller than preset electric quantity, the unmanned aerial vehicle enters the automatic mode, interrupts tasks and returns to the stop station and automatically charges.
10. The system of claim 7, wherein the drone further comprises:
the connection mode determining module is used for determining the optimal connection mode of the unmanned aerial vehicle and the service terminal and/or the control center when the task is executed;
and the data interaction module is used for performing data interaction with the service terminal and/or the control center according to the optimal connection mode.
11. The system of claim 10, wherein the drone further comprises:
and the connection interruption processing module is used for entering an automatic mode if the connection interruption of the unmanned aerial vehicle and the service terminal and/or the control center is detected, returning to the stop station after the task is executed according to the task execution instruction, and storing task data.
12. The system according to any one of claims 7 to 11, wherein the data interaction module is specifically configured to:
the unmanned aerial vehicle carries out data interaction with the control center through a wireless network; or the unmanned aerial vehicle carries out data interaction with the service terminal through a wireless network, and the service terminal carries out data interaction with the control center through the wireless network and/or a fixed broadband network and/or a private network.
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