CN109582034A - A kind of multitask flight course planning method, apparatus and electronic equipment - Google Patents
A kind of multitask flight course planning method, apparatus and electronic equipment Download PDFInfo
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- CN109582034A CN109582034A CN201811445611.1A CN201811445611A CN109582034A CN 109582034 A CN109582034 A CN 109582034A CN 201811445611 A CN201811445611 A CN 201811445611A CN 109582034 A CN109582034 A CN 109582034A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
This application discloses a kind of multitask flight course planning method, apparatus and electronic equipments, are related to air vehicle technique field, can solve the problem of to need repeatedly to make a return voyage when unmanned plane executes multiple course line tasks to carry out that task setting leads to inefficiency and there are air crash risks.Wherein method includes: to create multiple main task course lines of unmanned plane；Multiple main task course lines are analyzed respectively, obtain the corresponding flight environment of vehicle information in multiple main task course lines；According to flight environment of vehicle information, the switching route information between multiple main task course lines is configured, unmanned plane is made to execute multiple course line tasks according to multiple main task course lines and switching route information；If it is determined that the corresponding real time environment information in the main task course line of unmanned plane current flight and preset standard environmental information mismatch, then unmanned plane is switched in other main task course lines to be flown from the main task course line of current flight, continues to execute other course line tasks.The application is suitable for unmanned plane multitask flight course planning.
Description
Technical field
This application involves air vehicle technique fields, particularly with regard to a kind of multitask flight course planning method, apparatus and electricity
Sub- equipment.
Background technique
With the development of science and technology, unmanned plane industry obtains huge opportunity to develop, intelligent, stealthyization, the integrated, people
It is highlighted with change trend, is widely used in multiple necks of all trades and professions such as sprinkling irrigation, unmanned plane, the monitoring unmanned of farmland pesticide
Domain, for unmanned plane has been set in advance job task, has planned the line of flight, unmanned plane can be made according to the commander of earth station
Industry, it is also very efficient and convenient while saving manpower.
Currently, unmanned plane may only execute a pre-set course line task during flight, if it is desired to
It goes to execute other course line tasks again, is then landed and reset course line task, execute multiple course line tasks so just
Need repeatedly setting multiple, it is very inconvenient, the waste of electricity is also be easy to cause while wasting time.As unmanned plane is flying
In operation, when encountering external environment emergency situations or preplanned mission and needing interim adjustment, unmanned plane can only be maked a return voyage, land or
Hovering movement can not switch to other default course line tasks automatically or by human intervention, cause unmanned plane operating efficiency low,
Even can unmanned plane be exposed in hazardous environment in some cases, increase air crash risk.
Summary of the invention
In view of this, this application provides a kind of multitask flight course planning method, apparatus and electronic equipment, main purpose to exist
It needs repeatedly to make a return voyage when solving to execute multiple course line tasks to carry out task setting, it is very troublesome and lead to asking for the wasting of resources
Topic.
According to a first aspect of the present application, a kind of multitask flight course planning method is provided, can be used for unmanned plane during flying control
Device processed, this method comprises:
Creation or the multiple main task course lines for receiving unmanned plane；
The multiple main task course line is analyzed respectively, obtains the corresponding flight in the multiple main task course line
Environmental information；
According to the flight environment of vehicle information, the switching route information between the multiple main task course line is configured, so that institute
It states unmanned plane and executes multiple course line tasks according to the multiple main task course line and the switching route information；
If it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight and preset standard environment
Information mismatches, then the unmanned plane is switched to other main tasks to be flown from the main task course line of the current flight and navigated
In line, other course line tasks are continued to execute.
According to a second aspect of the present application, a kind of multitask flight course planning device is provided, can be used for unmanned plane during flying control
Device processed, the device include:
Creating unit, for creating or receiving multiple main task course lines of unmanned plane；
Analytical unit obtains the multiple main task course line for analyzing respectively the multiple main task course line
Corresponding Standard Flight environmental information；
Configuration unit, for configuring the multiple main task course line according to the standard environment information flight environment of vehicle information
Between switching route information so that the unmanned plane is executed according to the multiple main task course line and the switching route information
Multiple course line tasks；
Switch unit, for if it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight with
When the corresponding preset standard environmental information standard environment information in the main task course line of the current flight mismatches, then by the nothing
It is man-machine to be switched in other main task course lines to be flown from the main task course line of the current flight, continue to execute other course lines
Task.
According to the third aspect of the application, a kind of non-volatile readable storage medium is provided, computer is stored thereon with
Program realizes above-mentioned multitask flight course planning method when described program is executed by processor.
According to the fourth aspect of the application, a kind of electronic equipment, including non-volatile readable storage medium, processing are provided
Device and it is stored in the computer program that can be run on non-volatile readable storage medium and on a processor, the processor executes
Above-mentioned multitask flight course planning method is realized when described program.
At the 5th aspect that the present invention is implemented, a kind of computer program product comprising instruction is additionally provided, when it is being counted
When being run on calculation machine, so that computer realizes above-mentioned multitask flight course planning method when executing.
At the 6th aspect that the present invention is implemented, a kind of computer program is additionally provided, when run on a computer, is made
It obtains computer and executes the above-mentioned multitask flight course planning method based on unmanned plane.
By above-mentioned technical proposal, a kind of multitask flight course planning method, apparatus provided by the present application and electronic equipment, with
Current existing multitask flight course planning method is compared, and the application can once create a plurality of main task course line in unmanned plane,
It, can be by any during unmanned plane during flying and according to the switching route between the multiple main task course lines of flight environment of vehicle information configuration
Sequence executes all line of flight tasks, also can according to need and is switched to other by switching route in flight course and waits for
In the main task course line of flight, other course line tasks are continued to execute.The flight time is saved in this way, is avoided to make a return voyage and is replaced course line
Caused by electricity wasting phenomenon, and encounter emergency situations, course line can be adjusted in time, while guarantee task smoothly executes
Also reduce air crash risk.
Above description is only the general introduction of technical scheme, in order to better understand the technological means of the application,
And it can be implemented in accordance with the contents of the specification, and in order to which the above and other objects, features and advantages of the application can be more
It becomes apparent, below the special specific embodiment for lifting the application.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please do not constitute the improper restriction to locally applying for explaining the application.In the accompanying drawings:
Fig. 1 shows a kind of flow diagram of multitask flight course planning method provided by the embodiments of the present application；
Fig. 2 shows the flow diagrams of another multitask flight course planning method provided by the embodiments of the present application；
Fig. 3 shows a kind of structural schematic diagram of multitask flight course planning device provided by the embodiments of the present application；
Fig. 4 shows the structural schematic diagram of another multitask flight course planning device provided by the embodiments of the present application；
Fig. 5 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiments of the present application.
Specific embodiment
The application is described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
Task setting is carried out for needing repeatedly to make a return voyage when executing multiple course line tasks at present, it is very troublesome and cause to provide
The problem of source wastes, present embodiments provides a kind of multitask flight course planning method, can be used for UAV Flight Control device, such as schemes
Shown in 1, this method comprises:
101, create or receive multiple main task course lines of unmanned plane.
Wherein, main task course line is the corresponding flight path of pending task of unmanned plane, can be flown in a frame unmanned plane
It is created simultaneously in line control unit, can also be received and be obtained from external equipment by wired or wireless form.
For example, No.1 unmanned plane is pre-created or receives three main task course lines before taking off be respectively, course line 1:A point via
B point reaches C point；2:D point in course line reaches F point via E point；3:G point in course line reaches I point via H point.
102, multiple main task course lines are analyzed respectively, obtains the corresponding flight environment of vehicle in multiple main task course lines
Information.
Wherein, flight environment of vehicle information is to predict nobody according to other situations such as the previous flight record of unmanned plane or power consumption
The flight condition that each place may face in the main task course line of machine, it may include environmental information, interference information, other nobody
Machine flight information etc..
For example, if the main task course line 1 of creation are as follows: flown by A point and finally reach C point via B point, then analyze this director
It is engaged in the flight environment of vehicle information in course line, getting, which often will appear in B point, influences that the rain and snow weather of flight, C point can encounter course line and cut
The case where changing.
103, according to flight environment of vehicle information, the switching route information between multiple main task course lines is configured.
Further, so that unmanned plane executes multiple course lines times according to multiple main task course lines and switching route information
Business.
Wherein, the information such as connection conversion route, the transfer point of switching route information between different main task course lines.
For example, the example based on step 102, the line of flight 1 often will appear stormy weather in B point, then in course line 1
The switching route in fly to course line 2 or course line 3 is set before middle B point；Course line 2 of flying to equally can be set in C point task end point
Or the switching route in course line 3.
For another example if according to the analysis to flight environment of vehicle, determine the point position S of the line of flight 1 be in signal shadow region and
The case where being easy to appear electromagnetic interference then communicates before the S point in course line 1 and configures cutting for other course lines of flying on normal track
Change course line.
104, if it is determined that the corresponding real time environment information in the main task course line of unmanned plane current flight and preset standard environment
Information mismatches, then is switched to unmanned plane in other main task course lines to be flown from the main task course line of current flight, after
It is continuous to execute other course line tasks.
The real time environment value of the corresponding detection in the task course line that real time environment information is flown by unmanned plane；Preset standard environment
Information is set in advance, the standard environment threshold value that the task course line of current flight should meet in normal flight, wherein
It may include wind-force max-thresholds, rainfall max-thresholds, haze max-thresholds, the minimum unimpeded degree in tunnel etc..
For example, sensor detects that real-time wind-force size is fresh breeze at the B point of the line of flight 1, and preset standard environment is believed
The wind-force max-thresholds set in breath because real-time wind-force size does not meet preset standard environmental information, that is, illustrate course line 1 as 3 grades
B point be in the biggish state of wind-force, be unsuitable for unmanned plane during flying, therefore the unmanned plane in course line 1 can be passed through cutting before B point
It changes course line to be switched in other default main task course lines, continues to execute other course line tasks.
Multitask flight course planning method in through this embodiment, with unmanned plane in the prior art during flight
A pre-set course line task may only be executed, when going to execute other course line tasks again, landing is carried out and lays equal stress on
The mode of new settings course line task is compared, and this programme can concurrently set multiple course line tasks, after an aerial mission,
Can directly fly to next main task course line according to preset switching route, and when encountering emergency situations, do not need into
Row makes a return voyage, lands or hovering movement, only need to be switched in other main task course lines to be flown and continues to execute task, in this way
The working efficiency for not only increasing unmanned plane reduces air crash risk, also further ensures the safety of unmanned plane operation.
Further, as the refinement and extension of above-described embodiment specific embodiment, in order to completely illustrate in this implementation
In specific implementation process, provide another multitask flight course planning method, as shown in Fig. 2, this method comprises:
201, create or receive multiple main task course lines of unmanned plane.
For example, No. two unmanned planes create two main task course lines altogether, respectively, course line 1:S successively passes through I point and F point
Finally reach V point；2:L point in course line successively passes through U point, D point and S point and finally reaches J point；And it is received using data network outer
The course line task that portion is sent is that 3:D point in course line successively passes through G point and C point finally reaches S point.
202, multiple main task course lines are analyzed respectively, obtains the corresponding flight environment of vehicle in multiple main task course lines
Information.
For example, the example based on step 201, to main task course line 1, the main boat in main task course line 2 and 3 three, main task course line
Line is analyzed, and detects that the D point in main task course line 2 often will appear the excessive situation of power consumption, and with rain and snow weather, in turn
Make unmanned plane can not normal flight.
203, according to the corresponding flight environment of vehicle information in each main task course line, predicted impact unmanned plane navigates in each main task
The undesirable element information flown in line.
Wherein, undesirable element information can include: the weather conditions such as sleet, strong wind, hail, external interference, tunnel blocking etc.
External factor.
For example, if the main task course line 2 of No. two unmanned planes creation are as follows: L point successively passes through U point, D point and S point and finally reaches J
Point.According to the corresponding flight environment of vehicle information in main task course line 2, detect that S point power consumption is excessive, and with strong wind weather, influence nothing
Man-machine flight, then can be predicted No. two unmanned planes of influence undesirable element information existing for S point in main task course line 2 is wind-force mistake
Greatly.
204, according to undesirable element information, the course line switching point and switching route between multiple main task course lines are configured.
For example, course line 1:S successively passes through H point and K point finally reaches V point if No. two unmanned planes, which are created, has three course lines；
2:P point in course line successively passes through L point, Y point and S point and finally reaches G point；3:C point in course line finally arrives X point to J point.It is navigating if analyzing
There are undesirable elements for the J point of the H point of line 1, the L point in course line 2 and Y point, course line 3, then can be in the safety zone before the H point in course line 1
A course line switching point is determined in domain, and configures the switching route for being switched to 3 arbitrary point of course line 2 or course line；Respectively in course line 2
A course line switching point is determined in safety zone before L point and Y point, and is respectively configured and is switched to 3 arbitrary point of course line 1 or course line
Switching route；In the safety zone before the J point in course line 3 determine a course line switching point, and configure be switched to course line 1 or
The switching route of 2 arbitrary point of course line.Wherein, safety zone is to be capable of detecting when that front whether with the presence of undesirable element, and guarantees
Unmanned plane during flying is not by the regional scope that it is interfered, for example, if the K point at 10 meters before the H point in course line 1 is determined as course line
Switching point then needs to guarantee to be able to detect that the environmental information of H point in K point, analyzes the undesirable element for influencing flight, and can not
Influence the normal flight of unmanned plane.
By the above method, the switching route between multiple main task course lines can be configured according to flight environment of vehicle information, it is convenient
It, can be according to cutting between the progress of the switching route between each course line main task course line when encountering emergency situations or emergency
It changes, and then works on, without the operation such as maked a return voyage, landed or hovered, working efficiency can be improved well, it is unnecessary to reduce
The wasting of resources.
205, real time environment information is acquired by the sensor that unmanned plane configures.
For example, when the current task course line of unmanned plane is to rush for target location by tunnel to carry out rescue or inspection, it can
Acquire the environmental information in tunnel in real time using the sensor on unmanned plane, it may include the information such as the unobstructed degree in tunnel, atmospheric pressure value.
206, the similarity between real time environment information and preset standard environmental information is obtained.
For example, if when setting task course line two is tunnel, comparison real time environment information and preset standard environmental information are analyzed
Obtaining the similarity between them is 70%.
If 207, similarity is less than specific environment and compares the Special Ring for existing in threshold value or real time environment information and influencing flight
Unmanned plane is switched to other and waited for by border factor then by the course line switching point and switching route between multiple main task course lines
In the main task course line of flight, course line task is continued to execute.
Wherein, specific environment compares threshold value and is independently defined according to actual conditions, for judging that real time environment information is
The no judging basis for meeting flight standard environment.
For example, the example based on step 206, if obtaining specific environment to compare threshold value is 60%, and obtains two according to analysis
Similarity between person is 70%, compares threshold value greater than specific environment, but collects Tunnel ahead by sensor and hinder
This particular surroundings factor is filled in, then unmanned plane can be switched to other and wait flying by the course line switching point in task course line two
Main task course line in, continue to execute course line task；If not detecting particular surroundings factor, because similarity is greater than specific environment ratio
Compared with threshold value, then the automatic switchover in course line is not will do it.
In the corresponding real time environment information in main task course line and preset standard environmental information for determining unmanned plane current flight
After mismatch, the present embodiment method, which may also include that, sends earth station for the course line environment abnormal alarm signal in main task course line
Terminal, so that ground station terminal receives course line environmental abnormality information；The course line that satellite receiver terminal is sent to unmanned plane
Switching command；According to course line switching command, unmanned plane is switched to other masters to be flown from the main task course line of current flight
In task course line, other course line tasks are continued to execute.
In a specific embodiment, the course line switching command that satellite receiver terminal is sent to unmanned plane, specifically can include:
Satellite receiver terminal is sent to unmanned plane switches to the specified instruction to flight main task course line；Or satellite receiver terminal to
The instruction for needing to carry out course line switching that unmanned plane is sent；And according to the real time environment information of unmanned plane acquisition or main task course line
Priority determine the target that will switch main task course line to be flown；And the real time environment information obtained according to unmanned plane
Or the priority in main task course line determines the target that will switch main task course line to be flown.
Correspondingly, unmanned plane is switched in other main task course lines to be flown from the main task course line of current flight,
Other course line tasks are continued to execute, specifically can include: unmanned plane is switched to target from the main task course line of current flight and waits flying
In capable main task course line, target pattern task is continued to execute.
Wherein, environment abnormal alarm signal in course line can be word alarm information, picture warning message, audio alarm letter
Breath, video alarm information, light warning information, vibration warning message etc., wherein the information that may include are as follows: environmental abnormality occurs
Course line specific location coordinate, the undesirable element information for causing environmental abnormality etc..
For example, if No.1 unmanned plane, which is created, has three main task course lines, it is corresponding in the main task course line 1 of current flight
It, then can be by the corresponding course line environmental abnormality report in main task course line 1 when real time environment information and preset standard environmental information mismatch
Alert signal is sent to earth station, and ground station terminal is made to receive course line environmental abnormality information；Ground station terminal is receiving alarm
After information, the course line switching command for being switched to any course line in course line 2 or course line 3 can be sent to unmanned plane, it can also be only to nobody
Machine sends course line switching command, carries out automatic choose according to real time environment information by unmanned plane and is switched to course line 2 or course line 3, and
Continue to execute the corresponding goal task of switching route.
By the above method, in the corresponding real time environment information in main task course line for determining unmanned plane current flight and currently
It, can be by unmanned plane immediately from the director of current flight when the corresponding preset standard environmental information in the main task course line of flight mismatches
Business course line is switched in other main task course lines to be flown, and the target that will switch can be selected to wait flying by ground station control
Main task course line, can also earth station issue course line conversion command after, according to the real time environment information or main task of acquisition navigate
The priority of line automatically determines the main task course line that will switch, and the multifunctionality of select course is enhanced, so as to very
The good generation for avoiding dangerous situation reduces air crash risk, and goes to other course lines and continue to execute course line task, then can guarantee
Working efficiency is in case of emergency being kept, waste of time is reduced.
In specific application scenarios, in order to keep unmanned plane more regular in default multiple tasks airline operation,
And priority when meeting task execution selects, the present embodiment may also include that the multiple main tasks of configuration as a preferred method,
The priority in course line；If it is determined that the corresponding real time environment information in the main task course line of unmanned plane current flight and preset standard are flown
When environmental information matches, then multiple main task course lines are successively executed according to priority arrangement sequence.
Such as, however, it is determined that it is a, b, c, d that unmanned plane needed to be implemented, which shares four course lines, if determining four course lines in advance
Priority is from high to low are as follows: c, a, d, b, then in the corresponding real time environment information in main task course line for determining unmanned plane current flight
After preset standard flight environment of vehicle information matches, according to the priority arrangement sequence in four course lines, successively executive director is engaged in course line,
That is execution sequence is followed successively by course line c, course line a, course line d, course line b.
In specific application scenarios, in order to continue to optimize the task course line of unmanned plane, unnecessary between course line cut is reduced
It changes, the present embodiment may also include that after the completion of unmanned plane task execution, created according to the update of practical flight condition information more
A main task course line and switching route information.
For example, finding to deposit at the A point in course line 1 according to the flight environment of vehicle information or history flight record information that analyze
In the chaff interferent for influencing flight, then route planning can be re-started to course line 1, further improve route, equally, can also upload new
Course line task is into the storage location of unmanned plane.
By above-mentioned multitask flight course planning method, it can be pre-created multiple main task course lines of unmanned plane, and according to
Obtained flight environment of vehicle information is analyzed, the switching route information between multiple main task course lines is configured, it is steady in current flight state
Calmly, when and without course line switching command, then course line task is successively executed according to scheduled course line task priority；It is needed more when encountering
The emergency in course line is changed, or determines the corresponding real time environment information in main task course line and preset standard of unmanned plane current flight
When environmental information mismatches, then the conversion in course line is carried out, even if unmanned plane is made to encounter emergency situations, nor affects on course line task
It is normal to execute, it improves work efficiency, reduces air crash risk, so as to further guarantee the safety of unmanned plane operation
Property.And the multiple main task course lines created and switching can also be updated according to practical flight condition information after task execution
Route information can continue to optimize the function of unmanned plane during flying, reinforce the integrity of flight path, and the electricity for reducing unmanned plane disappears
Consumption, and then play energy saving effect.
Further, the specific implementation as method shown in Fig. 1 and Fig. 2, the embodiment of the present application provide a kind of multitask
Flight course planning device, for the flight controller of unmanned plane, as shown in figure 3, the device includes: creating unit 31, analytical unit
32, configuration unit 33, switch unit 34.
Creating unit 31 can be used for creating or receiving multiple main task course lines of unmanned plane；
Analytical unit 32 can be used for respectively analyzing multiple main task course lines, obtain multiple main task course line difference
Corresponding Standard Flight environmental information；
Configuration unit 33 can be used for being configured between multiple main task course lines according to standard environment information flight environment of vehicle information
Switching route information so that unmanned plane executes multiple course line tasks according to multiple main task course lines and switching route information；
Switch unit 34, can be used for if it is determined that the corresponding real time environment information in the main task course line of unmanned plane current flight with
When the corresponding preset standard environmental information standard environment information in the main task course line of current flight mismatches, then by unmanned plane from working as
The main task course line of preceding flight is switched in other main task course lines to be flown, and continues to execute other course line tasks.
Wherein, configuration unit 33 are particularly used according to the corresponding flight environment of vehicle information in each main task course line, predict shadow
Ring the undesirable element information that unmanned plane flies in each main task course line；According to undesirable element information, multiple main tasks are configured
Course line switching point and switching route between course line.
In specific application scenarios, it is real to be particularly used in the sensor acquisition configured by unmanned plane for switch unit 34
When environmental information；Obtain the similarity between real time environment information and preset standard environmental information；If similarity is less than predetermined ring
Border compare in threshold value or real time environment information exist influence flight particular surroundings factor, then by multiple main task course lines it
Between course line switching point and switching route, unmanned plane is switched in other main task course lines to be flown, boat is continued to execute
Line task.
In specific application scenarios, configuration unit 33 specifically can also be used in the priority for configuring multiple main task course lines；
In specific application scenarios, in order to allow when the main task course line of unmanned plane current flight meets preset standard
Unmanned plane successively executes course line task, as shown in figure 4, the present apparatus further include: execution unit 35.
Execution unit 35, can be used for if it is determined that the corresponding real time environment information in the main task course line of unmanned plane current flight with
When preset standard flight environment of vehicle information matches, then multiple main task course lines are successively executed according to priority arrangement sequence.
In specific application scenarios, switch unit 34 specifically can also be used in the course line environmental abnormality in main task course line
Alarm signal is sent to ground station terminal, so that ground station terminal receives course line environmental abnormality information；Satellite receiver is whole
Hold the course line switching command sent to unmanned plane；According to course line switching command, by unmanned plane from the main task course line of current flight
It is switched in other main task course lines to be flown, continues to execute other course line tasks.
Correspondingly, switch unit 34, specifically can also be used in satellite receiver terminal to unmanned plane transmission switch to it is specified to
The instruction in flight main task course line；Or the instruction for needing to carry out course line switching that satellite receiver terminal is sent to unmanned plane；And
Determine that the target that will switch is to be flown according to the real time environment information of unmanned plane acquisition or the priority in main task course line
Main task course line；Unmanned plane is switched in target main task course line to be flown from the main task course line of current flight, is continued
Performance objective course line task.
In specific application scenarios, in order to continue to optimize the task course line of unmanned plane, unnecessary between course line cut is reduced
It changes, as shown in figure 4, the present apparatus further include: updating unit 36.
Updating unit 36 can be used for after the completion of unmanned plane task execution, created according to the update of practical flight condition information
The multiple main task course lines built and switching route information.
It should be noted that its of each functional unit involved by a kind of multitask flight course planning device provided in this embodiment
He accordingly describes, and can describe referring to figs. 1 to the corresponding of Fig. 2, details are not described herein.
Based on above-mentioned method as shown in Figure 1 to Figure 2, deposited correspondingly, the present embodiment additionally provides a kind of non-volatile readable
Storage media is stored thereon with computer-readable instruction, which realizes above-mentioned such as Fig. 1 to Fig. 2 institute when being executed by processor
The multitask flight course planning method shown.
Based on this understanding, the technical solution of the application can be embodied in the form of software products, which produces
Product can store in a non-volatile memory medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions
With so that computer equipment (can be personal computer, server or the network equipment an etc.) execution the application is each
Method described in implement scene.
Based on above-mentioned method and Fig. 3 as shown in Figure 1 to Figure 2, virtual bench embodiment shown in Fig. 4, on realizing
Purpose is stated, the present embodiment additionally provides a kind of electronic equipment, as shown in figure 5, the electronic equipment includes bus 41, communication interface
42, non-volatile readable storage medium 43 and processor 44；Non-volatile readable storage medium 43, for storing computer program
45；Processor 44 realizes above-mentioned multitask flight course planning method as shown in Figure 1 to Figure 2 for executing computer program 45；
Communication interface 42 is for realizing electronic equipment and external device communication；Bus 41 for couple communication interface 42, it is non-volatile can
Read storage medium 43 and processor 44.
Optionally, which can also include user interface, network interface, camera, radio frequency (Radio
Frequency, RF) circuit, sensor, voicefrequency circuit, WI-FI module etc..User interface may include display screen
(Display), input unit such as keyboard (Keyboard) etc., optional user interface can also connect including USB interface, card reader
Mouthful etc..Network interface optionally may include standard wireline interface and wireless interface (such as WI-FI interface).
It will be understood by those skilled in the art that a kind of electronic equipment structure provided in this embodiment is not constituted to the entity
The restriction of equipment may include more or fewer components, perhaps combine certain components or different component layouts.
It can also include operating system, network communication module in non-volatile memory medium.Operating system is that management is above-mentioned
The program of electronic equipment hardware and software resource supports the operation of message handling program and other softwares and/or program.Network
Communication module for realizing the communication between each component in non-volatile memory medium inside, and in information processing entities equipment
It is communicated between other hardware and softwares.
Through the above description of the embodiments, those skilled in the art can be understood that the application can borrow
It helps software that the mode of necessary general hardware platform is added to realize, hardware realization can also be passed through.Pass through the skill of application the application
Art scheme, compared with currently available technology, the application can once create a plurality of main task course line in unmanned plane, and according to winged
Row environmental information configures the switching route between multiple main task course lines, can execute in any order during unmanned plane during flying
All line of flight tasks also can according to need and be switched to other masters to be flown using switching route in flight course
In task course line, other course line tasks are continued to execute, do not need the execution when encountering emergency situations or completing a course line task
It the operation such as makes a return voyage, land or hovers, save the flight time, avoid electricity wasting phenomenon caused by replacing course line of making a return voyage,
When encountering emergency situations, course line can be adjusted in time, and air crash risk is also reduced while ensure that task execution.And it is in office
Business can also update the multiple main task course lines created and switching route information, energy after executing according to practical flight condition information
The function of enough continuing to optimize unmanned plane during flying reinforces the integrity of flight path, reduces the electric quantity consumption of unmanned plane, and then plays
Save the effect of the energy.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Process is not necessarily implemented necessary to the application.It will be appreciated by those skilled in the art that the mould in device in implement scene
Block can according to implement scene describe be distributed in the device of implement scene, can also carry out corresponding change be located at be different from
In one or more devices of this implement scene.The module of above-mentioned implement scene can be merged into a module, can also be into one
Step splits into multiple submodule.
Above-mentioned the application serial number is for illustration only, does not represent the superiority and inferiority of implement scene.Disclosed above is only the application
Several specific implementation scenes, still, the application is not limited to this, and the changes that any person skilled in the art can think of is all
The protection scope of the application should be fallen into.
The embodiment of the present invention at least discloses following technical scheme:
1, a kind of multitask flight course planning method, the flight controller for unmanned plane, comprising:
Creation or the multiple main task course lines for receiving unmanned plane；
The multiple main task course line is analyzed respectively, obtains the corresponding flight in the multiple main task course line
Environmental information；
According to the flight environment of vehicle information, the switching route information between the multiple main task course line is configured, so that institute
It states unmanned plane and executes multiple course line tasks according to the multiple main task course line and the switching route information；
If it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight and preset standard environment
Information mismatches, then the unmanned plane is switched to other main tasks to be flown from the main task course line of the current flight and navigated
In line, other course line tasks are continued to execute.
2, the method according to 1, it is described according to the flight environment of vehicle information, it configures between the multiple main task course line
Switching route information so that the unmanned plane executed according to the multiple main task course line and the switching route information it is multiple
Course line task, specifically includes:
According to the corresponding flight environment of vehicle information in each main task course line, unmanned plane described in predicted impact is each
The undesirable element information flown in the main task course line；
According to the undesirable element information, the course line switching point between the multiple main task course line and switching road are configured
Line.
3, the method according to 2, however, it is determined that the corresponding real time environment in main task course line of the unmanned plane current flight
Corresponding with the main task course line of the current flight preset standard environmental information of information mismatches, then by the unmanned plane from institute
The main task course line for stating current flight is switched in other main task course lines to be flown, and continues to execute other course line tasks, tool
Body includes:
The real time environment information is acquired by the sensor that the unmanned plane configures；
Obtain the similarity between the real time environment information and the preset standard environmental information；
If the similarity is less than specific environment and compares the spy for existing in threshold value or the real time environment information and influencing flight
Different environmental factor, then by the course line switching point and the switching route between the multiple main task course line, by institute
It states unmanned plane to be switched in other described main task course lines to be flown, continues to execute course line task.
4, the method according to 1, the method also includes:
Configure the priority in the multiple main task course line；
If it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight is preset with described
When Standard Flight environmental information matches, then the multiple main task course line is successively executed according to the priority arrangement sequence.
5, the method according to 1, however, it is determined that the main task course line of the unmanned plane current flight is corresponding described real-time
Environmental information and the preset standard environmental information mismatch, then the method also includes:
Ground station terminal is sent by the course line environment abnormal alarm signal in the main task course line, so that the ground
Terminal of standing receives course line environmental abnormality information；
It is described that the unmanned plane is switched to other main tasks boats to be flown from the main task course line of the current flight
In lines, other course line tasks are continued to execute, are specifically included:
Receive the course line switching command that the ground station terminal sends to the unmanned plane；
According to the course line switching command, the unmanned plane is switched to from the main task course line of the current flight described
In other main task course lines to be flown, other course line tasks are continued to execute.
6, the method according to 5, the course line switching that the reception ground station terminal sends to the unmanned plane refer to
It enables, specifically includes:
It receives the ground station terminal and sends the instruction for switching to and specifying to flight main task course line to the unmanned plane；Or
Receive the instruction for needing to carry out course line switching that the ground station terminal sends to the unmanned plane；And according to described
The priority of the real time environment information or the main task course line that unmanned plane obtains determines that the target that will switch waits flying
Capable main task course line；
According to the course line switching command, the unmanned plane is switched to other from the main task course line of the current flight
In main task course lines to be flown, other course line tasks are continued to execute, are specifically included:
The unmanned plane is switched to target main task boat to be flown from the main task course line of the current flight
In line, target pattern task is continued to execute.
7, according to 1 to 6 described in any item methods, the method also includes:
After the completion of the unmanned plane task execution, the multiple master created is updated according to practical flight condition information
Task course line and the switching route information.
8, a kind of multitask flight course planning device, the flight controller for unmanned plane, comprising:
Creating unit, for creating or receiving multiple main task course lines of unmanned plane；
Analytical unit obtains the multiple main task course line for analyzing respectively the multiple main task course line
Corresponding Standard Flight environmental information；
Configuration unit, for configuring the multiple main task course line according to the standard environment information flight environment of vehicle information
Between switching route information so that the unmanned plane is executed according to the multiple main task course line and the switching route information
Multiple course line tasks；
Switch unit, for if it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight with
When the corresponding preset standard environmental information standard environment information in the main task course line of the current flight mismatches, then by the nothing
It is man-machine to be switched in other main task course lines to be flown from the main task course line of the current flight, continue to execute other course lines
Task.
9, the method according to 8, the configuration unit are specifically used for according to the corresponding institute in each main task course line
State flight environment of vehicle information, the undesirable element information that unmanned plane described in predicted impact flies in each main task course line；According to
According to the undesirable element information, the course line switching point and switching route between the multiple main task course line are configured.
10, the method according to 8, the switch unit are adopted specifically for the sensor configured by the unmanned plane
Collect the real time environment information；Obtain the similarity between the real time environment information and the preset standard environmental information；If
The similarity be less than specific environment compare in threshold value or the real time environment information exist influence flight particular surroundings because
Element, then by the course line switching point and the switching route between the multiple main task course line, by the unmanned plane
It is switched in other described main task course lines to be flown, continues to execute course line task.
11, the device according to 8, described device further include: execution unit.
Configuration unit is also used to configure the priority in the multiple main task course line；
Execution unit, for if it is determined that the corresponding real time environment letter in the main task course line of the unmanned plane current flight
When breath is with the preset standard flight environment of vehicle information matches, then the multiple master is successively executed according to the priority arrangement sequence
Task course line.
12, the method according to 8, the switch unit, is specifically also used to: by the course line environment in the main task course line
Abnormal alarm signal is sent to ground station terminal, so that the ground station terminal receives course line environmental abnormality information；It receives
The course line switching command that the ground station terminal sends to the unmanned plane；According to the course line switching command, by it is described nobody
Machine is switched in other described main task course lines to be flown from the main task course line of the current flight, continues to execute other boats
Line task.
13, the method according to 12, the switch unit, is specifically also used to: receiving the ground station terminal to described
Unmanned plane, which is sent, switches to the specified instruction to flight main task course line；Or it receives the ground station terminal and is sent out to the unmanned plane
That send needs to carry out the instruction of course line switching；And the real time environment information or the main task obtained according to the unmanned plane
The priority in course line determines the target that will switch main task course line to be flown；By the unmanned plane from the current flight
Main task course line be switched in target main task course line to be flown, continue to execute target pattern task.
14, according to 8 to 13 described in any item methods, after the completion of the unmanned plane task execution, according to practical flight
Condition information updates the multiple main task course line created and the switching route information.
15, a kind of non-volatile readable storage medium, is stored thereon with computer program, and the computer program is calculated
Multitask flight course planning method described in realizing any one of 1 to 7 when machine executes.
16, a kind of electronic equipment, including non-volatile readable storage medium, processor and be stored in non-volatile readable and deposit
The computer program run on a processor can be used on storage media, processor realizes more of any one of 1 to 7 when executing program
Business flight course planning method.
Claims (10)
1. a kind of multitask flight course planning method, the flight controller for unmanned plane, comprising:
Creation or the multiple main task course lines for receiving unmanned plane；
The multiple main task course line is analyzed respectively, obtains the corresponding flight environment of vehicle in the multiple main task course line
Information；
According to the flight environment of vehicle information, the switching route information between the multiple main task course line is configured, so that the nothing
It is man-machine to execute multiple course line tasks according to the multiple main task course line and the switching route information；
If it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight and preset standard environmental information
It mismatches, then the unmanned plane is switched to other main task course lines to be flown from the main task course line of the current flight
In, continue to execute other course line tasks.
2. configuring the multiple main task course line according to the method described in claim 1, described according to the flight environment of vehicle information
Between switching route information so that the unmanned plane is executed according to the multiple main task course line and the switching route information
Multiple course line tasks, specifically include:
According to the corresponding flight environment of vehicle information in each main task course line, unmanned plane described in predicted impact is each described
The undesirable element information flown in main task course line；
According to the undesirable element information, the course line switching point and switching route between the multiple main task course line are configured.
3. according to the method described in claim 2, if it is determined that the main task course line of the unmanned plane current flight is corresponding in real time
Environmental information preset standard environmental information corresponding with the main task course line of the current flight mismatches, then by the unmanned plane
It is switched in other main task course lines to be flown from the main task course line of the current flight, continues to execute other course lines and appoint
Business, specifically includes:
The real time environment information is acquired by the sensor that the unmanned plane configures；
Obtain the similarity between the real time environment information and the preset standard environmental information；
If the similarity is less than specific environment and compares the Special Ring for existing in threshold value or the real time environment information and influencing flight
Border factor, then by the course line switching point and the switching route between the multiple main task course line, by the nothing
It is man-machine to be switched in other described main task course lines to be flown, continue to execute course line task.
4. according to the method described in claim 1, the method also includes:
Configure the priority in the multiple main task course line；
If it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight and the preset standard
When flight environment of vehicle information matches, then the multiple main task course line is successively executed according to the priority arrangement sequence.
5. according to the method described in claim 1, if it is determined that the main task course line of the unmanned plane current flight is corresponding described
Real time environment information and the preset standard environmental information mismatch, then the method also includes:
Ground station terminal is sent by the course line environment abnormal alarm signal in the main task course line, so that the earth station is whole
Termination receives course line environmental abnormality information；
It is described to be switched to the unmanned plane in other main task course lines to be flown from the main task course line of the current flight,
Other course line tasks are continued to execute, are specifically included:
Receive the course line switching command that the ground station terminal sends to the unmanned plane；
According to the course line switching command, by the unmanned plane from the main task course line of the current flight be switched to it is described other
In main task course line to be flown, other course line tasks are continued to execute.
6. according to the method described in claim 5, the reception ground station terminal cuts to the course line that the unmanned plane is sent
Instruction is changed, is specifically included:
It receives the ground station terminal and sends the instruction for switching to and specifying to flight main task course line to the unmanned plane；Or
Receive the instruction for needing to carry out course line switching that the ground station terminal sends to the unmanned plane；And according to it is described nobody
The priority of the real time environment information or the main task course line that machine obtains determines that the target that will switch is to be flown
Main task course line；
According to the course line switching command, the unmanned plane is switched to other from the main task course line of the current flight and waits flying
In capable main task course lines, other course line tasks are continued to execute, are specifically included:
The unmanned plane is switched in target main task course line to be flown from the main task course line of the current flight,
Continue to execute target pattern task.
7. method according to any one of claims 1 to 6, the method also includes:
After the completion of the unmanned plane task execution, the multiple main task created is updated according to practical flight condition information
Course line and the switching route information.
8. a kind of multitask flight course planning device, the flight controller for unmanned plane, comprising:
Creating unit, for creating or receiving multiple main task course lines of unmanned plane；
Analytical unit obtains the multiple main task course line difference for analyzing respectively the multiple main task course line
Corresponding Standard Flight environmental information；
Configuration unit, for configuring between the multiple main task course line according to the standard environment information flight environment of vehicle information
Switching route information so that the unmanned plane executed according to the multiple main task course line and the switching route information it is multiple
Course line task；
Switch unit, for if it is determined that the corresponding real time environment information in the main task course line of the unmanned plane current flight with it is described
When the corresponding preset standard environmental information standard environment information in the main task course line of current flight mismatches, then by the unmanned plane
It is switched in other main task course lines to be flown from the main task course line of the current flight, continues to execute other course lines and appoint
Business.
9. a kind of non-volatile readable storage medium, is stored thereon with computer program, the computer program is held by computer
Multitask flight course planning method described in any one of claims 1 to 7 is realized when row.
10. a kind of electronic equipment, including non-volatile readable storage medium, processor and it is stored in non-volatile readable storage and is situated between
The computer program run on a processor can be used in matter, processor realizes any one of claims 1 to 7 when executing program
Multitask flight course planning method.
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