CN109582034B - Multitask route planning method and device and electronic equipment - Google Patents
Multitask route planning method and device and electronic equipment Download PDFInfo
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- CN109582034B CN109582034B CN201811445611.1A CN201811445611A CN109582034B CN 109582034 B CN109582034 B CN 109582034B CN 201811445611 A CN201811445611 A CN 201811445611A CN 109582034 B CN109582034 B CN 109582034B
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- 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
The application discloses a multitask route planning method and device and electronic equipment, relates to the technical field of unmanned aerial vehicles, and can solve the problems that when an unmanned aerial vehicle executes a plurality of route tasks, the unmanned aerial vehicle needs to return to the air for multiple times to set the tasks, so that the efficiency is low and the risk of crash exists. The method comprises the following steps: creating a plurality of main task routes of the unmanned aerial vehicle; analyzing the plurality of main task air routes respectively to obtain flight environment information corresponding to the plurality of main task air routes respectively; configuring switching route information among a plurality of main task air routes according to flight environment information, and enabling the unmanned aerial vehicle to execute a plurality of air route tasks according to the main task air routes and the switching route information; and if the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is determined not to be matched with the preset standard environment information, switching the unmanned aerial vehicle from the main task air route of the current flight into other main task air routes to be flown, and continuously executing other air route tasks. The application is suitable for unmanned aerial vehicle multitask air route planning.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a multitask route planning method and device and electronic equipment.
Background
Along with the development of science and technology, the unmanned aerial vehicle trade has obtained huge development opportunity, and is intelligent, stealthy, integrate, civilization trend is prominent, and a plurality of fields of each industry such as the sprinkling irrigation of agricultural pesticide, unmanned aerial vehicle take photo by plane, unmanned aerial vehicle control set for unmanned aerial vehicle has set for the job task in advance, has planned the flight route, and unmanned aerial vehicle can carry out the operation according to the commander of ground satellite station, when having saved the manpower, also high efficiency convenience very.
At present, an unmanned aerial vehicle can only execute one preset air route task in the process of one flight, if the unmanned aerial vehicle wants to execute other air route tasks, the unmanned aerial vehicle needs to land and reset the air route task, and therefore the execution of a plurality of air route tasks needs to be repeatedly set for many times, which is very inconvenient, and wastes time and electricity. If unmanned aerial vehicle is in flight operation, when meetting external environment emergency or predetermined task and need temporarily adjust, unmanned aerial vehicle can only return to the journey, descend or hover the action, can't switch to other preset air route tasks automatically or through human intervention, lead to unmanned aerial vehicle operating efficiency low, can make unmanned aerial vehicle expose in hazardous environment even under some circumstances, increase the risk of crashing.
Disclosure of Invention
In view of this, the present application provides a multitask route planning method, device and electronic device, and mainly aims to solve the problems that when a plurality of route tasks are executed, a plurality of return flights are required to set the tasks, which is very troublesome and causes resource waste.
According to a first aspect of the application, a multitask route planning method is provided, which can be used for an unmanned aerial vehicle flight controller, and comprises the following steps:
creating or receiving a plurality of primary mission routes for the drone;
analyzing the plurality of main task air routes respectively to obtain flight environment information corresponding to the plurality of main task air routes respectively;
configuring switching route information among the multiple main task air routes according to the flight environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information;
and if the real-time environment information corresponding to the main task air route of the unmanned aerial vehicle flying at present is determined not to be matched with the preset standard environment information, switching the unmanned aerial vehicle from the main task air route of the unmanned aerial vehicle flying at present to other main task air routes to be flown, and continuously executing other air route tasks.
According to a second aspect of the application, there is provided a multitask route planning device for use in an unmanned aerial vehicle flight controller, the device comprising:
the unmanned aerial vehicle system comprises a creating unit, a receiving unit and a control unit, wherein the creating unit is used for creating or receiving a plurality of main task air routes of the unmanned aerial vehicle;
the analysis unit is used for analyzing the plurality of main task air routes respectively to obtain standard flight environment information corresponding to the plurality of main task air routes respectively;
the configuration unit is used for configuring switching route information among the multiple main task air routes according to the standard environment information flying environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information;
and the switching unit is used for switching the unmanned aerial vehicle from the current main task air line to other main task air lines to be flown and continuously executing other air line tasks if the fact that the real-time environment information corresponding to the current main task air line of the unmanned aerial vehicle is not matched with the preset standard environment information corresponding to the current main task air line of the unmanned aerial vehicle is determined.
According to a third aspect of the present application, there is provided a non-transitory readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described multitask route planning method.
According to a fourth aspect of the present application, there is provided an electronic device comprising a non-volatile readable storage medium, a processor and a computer program stored on the non-volatile readable storage medium and executable on the processor, the processor implementing the above-mentioned multitask route planning method when executing the program.
In a fifth aspect of the embodiments of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to carry out the above-described multitask route planning method when executed.
In a sixth aspect of the present invention, there is also provided a computer program which, when run on a computer, causes the computer to perform the above method of drone-based multitask route planning.
By means of the technical scheme, compared with the existing multitask air route planning method, the device and the electronic equipment can create a plurality of main task air routes in the unmanned aerial vehicle at one time, configure switching routes among the main task air routes according to flight environment information, execute all flight air route tasks in any sequence in the flight process of the unmanned aerial vehicle, and switch to other main task air routes to be flown through the switching routes in the flight process according to needs to continuously execute other air route tasks. Therefore, the flight time is saved, the phenomenon of electric quantity waste caused by returning to the air route replacement is avoided, the air route can be adjusted in time when sudden situations occur, and the risk of crash is reduced while smooth execution of tasks is ensured.
The above description is only an outline of the technical solution of the present application, and the present application can be implemented in accordance with the content of the description so as to make the technical means of the present application more clearly understood, and the detailed description of the present application will be given below so that the above and other objects, features, and advantages of the present application can be more clearly understood.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application to the disclosed embodiment. In the drawings:
FIG. 1 is a flow chart diagram illustrating a method for multitask route planning provided by an embodiment of the present application;
FIG. 2 is a flow chart diagram illustrating another method of multitask route planning provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a multitask route planning device provided by an embodiment of the application;
FIG. 4 is a schematic structural diagram of another multitask route planning device provided by the embodiment of the application;
fig. 5 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Aiming at the problems that a plurality of return flights are needed to set a task when a plurality of flight path tasks are executed at present, which is very troublesome and causes resource waste, the embodiment provides a multitask flight path planning method which can be used for an unmanned aerial vehicle flight controller, and as shown in fig. 1, the method comprises the following steps:
101. a plurality of primary mission routes for the drone are created or received.
The main task air route is a flight route corresponding to a task to be executed of the unmanned aerial vehicle, can be simultaneously established in a flight controller of the unmanned aerial vehicle, and can also be received from external equipment in a wired or wireless mode.
For example, three main mission routes are created or received in advance before the first unmanned aerial vehicle takes off, and the routes are respectively route 1: the point A reaches the point C through the point B; and (3) a route 2: the point D reaches the point F through the point E; and (3) a route: point G reaches point I via point H.
102. And analyzing the plurality of main task air routes respectively to obtain the flight environment information corresponding to the plurality of main task air routes respectively.
The flight environment information is used for predicting the flight conditions possibly facing each place in the main mission air route of the unmanned aerial vehicle according to the current flight record of the unmanned aerial vehicle or other conditions such as power consumption and the like, and can comprise environment information, interference information, other unmanned aerial vehicle flight information and the like.
For example, if the primary mission route 1 is created as: and (3) analyzing the flight environment information of the main mission route when the point A flies through the point B and finally reaches the point C, and acquiring the conditions that the rainy and snowy weather affecting the flight often occurs at the point B and the route switching is encountered at the point C.
103. And configuring switching route information among a plurality of main task routes according to the flight environment information.
And further, the unmanned aerial vehicle is enabled to execute a plurality of route tasks according to the plurality of main task routes and the switching route information.
The switching route information is information such as communication switching routes and switching points among different main task routes.
For example, based on the example of step 102, flight route 1, where stormy weather often occurs at point B, sets a switch route to route 2 or route 3 before point B in route 1; at the end of the task at point C, a switched route to route 2 or route 3 may also be set.
For another example, if it is determined that the position of the S point of the flight route 1 is in the signal shadow area and electromagnetic interference is likely to occur according to the analysis of the flight environment, a switching route flying to another route is configured on a route which is normally communicated before the S point of the flight route 1.
104. And if the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is determined not to be matched with the preset standard environment information, switching the unmanned aerial vehicle from the main task air route of the current flight into other main task air routes to be flown, and continuously executing other air route tasks.
The real-time environment information is a real-time environment value correspondingly detected by a mission air line flown by the unmanned aerial vehicle; the preset standard environment information is a standard environment threshold value which is set in advance and is required to be met by a current flying task air route in normal flight, wherein the standard environment threshold value can comprise a wind power maximum threshold value, a rainfall maximum threshold value, a haze maximum threshold value, a tunnel minimum smoothness and the like.
For example, the sensor detects that the real-time wind power at the point B of the flight route 1 is 4-level wind, and the maximum wind power threshold set in the preset standard environment information is 3-level, because the real-time wind power does not accord with the preset standard environment information, that is, it is stated that the point B of the route 1 is in a state with large wind power and is not suitable for the flight of the unmanned aerial vehicle, the unmanned aerial vehicle in the route 1 is switched to other preset main task routes through the switching route before the point B, and other route tasks are continuously executed.
Compared with the mode that the unmanned aerial vehicle can only execute one preset air route task in the process of one flight in the prior art, when other air route tasks are executed, the mode that landing is needed and the air route task is reset is compared, the multi-task air route planning method can simultaneously set a plurality of air route tasks, after one flight task is finished, the unmanned aerial vehicle can directly fly to the next main task air route according to the preset switching route, and when an emergency situation occurs, the actions of returning, landing or hovering are not needed, and only the main task air route to be flown needs to be switched to other main task air routes to be flown to continuously execute the tasks, so that the working efficiency of the unmanned aerial vehicle is improved, the risk of air crash is reduced, and the operation safety of the unmanned aerial vehicle is further ensured.
Further, as a refinement and an extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process in this implementation, another multitask route planning method is provided, as shown in fig. 2, and the method includes:
201. a plurality of primary mission routes for the drone are created or received.
For example, unmanned plane two creates two main mission routes in total, respectively, route 1: s passes through the point I and the point F in sequence and finally reaches the point V; and (3) a route 2: the L point sequentially passes through the U point, the D point and the S point and finally reaches the J point; and receiving an airline task sent from the outside by using a data network, wherein the airline task is as follows, airline 3: and the D point passes through the G point and the C point in sequence and finally reaches the S point.
202. And analyzing the plurality of main task air routes respectively to obtain the flight environment information corresponding to the plurality of main task air routes respectively.
For example, based on the example of step 201, three main routes, namely the main mission route 1, the main mission route 2 and the main mission route 3, are analyzed, and it is detected that the power consumption at the point D in the main mission route 2 is often too high, and the weather is rainy or snowy, so that the unmanned aerial vehicle cannot fly normally.
203. And according to the flight environment information corresponding to each main task air route, predicting adverse factor information influencing the flight of the unmanned aerial vehicle in each main task air route.
The bad factor information may include: weather factors such as rain, snow, strong wind and hail, external factors such as external interference and tunnel blockage.
For example, if the primary mission route 2 created by the second drone is: the L point passes through the U point, the D point and the S point in sequence and finally reaches the J point. According to the flight environment information corresponding to the main mission route 2, the situation that the power consumption of the S point is too large and the unmanned aerial vehicle is influenced by the strong wind weather is detected, and the situation that the adverse factor information influencing the second unmanned aerial vehicle at the S point in the main mission route 2 is too large wind power can be predicted.
204. And configuring route switching points and switching routes among a plurality of main task routes according to the adverse factor information.
For example, if No. two unmanned aerial vehicles create three routes together, route 1: s passes through the H point and the K point in sequence and finally reaches the V point; and (3) a route 2: the point P sequentially passes through the point L, the point Y and the point S and finally reaches the point G; and (3) a route: c to J and finally to X. If the fact that adverse factors exist at the H point of the airline 1, the L point and the Y point of the airline 2 and the J point of the airline 3 is analyzed, an airline switching point is determined in a safety area before the H point of the airline 1, and a switching route switched to any point of the airline 2 or the airline 3 is configured; respectively determining a route switching point in a safety area before an L point and a Y point of the route 2, and respectively configuring a switching route switched to any point of the route 1 or the route 3; and determining a route switching point in a safety area before the J point of the route 3, and configuring a switching route for switching to any point of the route 1 or the route 2. The safety area is an area range which can detect whether adverse factors exist in the front and can ensure that the unmanned aerial vehicle can not be interfered by the unmanned aerial vehicle, for example, if a K point 10 meters away from an H point in a route 1 is determined as a route switching point, the environmental information of the H point can be detected at the K point, the adverse factors influencing the flight are analyzed, and the normal flight of the unmanned aerial vehicle can not be influenced.
By the method, the switching routes among the main task air routes can be configured according to the flight environment information, so that the switching among the main task air routes can be conveniently carried out according to the switching routes among the air routes in case of emergency or emergency, further work is continued, operations such as return flight, landing or hovering are not needed, the work efficiency can be well improved, and unnecessary resource waste is reduced.
205. Real-time environmental information is collected through a sensor configured by the unmanned aerial vehicle.
For example, when the current task airline of unmanned aerial vehicle rescues or patrols and examines to the target site through the tunnel, the environmental information in tunnel can be gathered in real time to the sensor on usable unmanned aerial vehicle, can include information such as unobstructed degree, the atmospheric pressure value in tunnel.
206. And acquiring the similarity between the real-time environment information and the preset standard environment information.
For example, if the second mission route is set as a tunnel, the real-time environment information is compared with the preset standard environment information, and the similarity between the real-time environment information and the preset standard environment information is analyzed and obtained to be 70%.
207. If the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through air route switching points and switching routes among the main task air routes, and the air route task is continuously executed.
The predetermined environment comparison threshold is independently defined according to actual conditions and is used for judging whether the real-time environment information meets the judgment basis of the flight standard environment.
For example, based on the example of step 206, if the predetermined environment comparison threshold is 60%, and the similarity between the two is 70% according to the analysis and is greater than the predetermined environment comparison threshold, but the sensor acquires that the tunnel ahead is blocked, which is a special environmental factor, the unmanned aerial vehicle is switched to another main mission route to be flown through the route switching point in the mission route two, and the route mission is continuously executed; if no special environment factor is detected, the automatic switching of the air route is not carried out because the similarity is greater than a preset environment comparison threshold value.
After determining that the real-time environment information corresponding to the main mission route currently flown by the unmanned aerial vehicle is not matched with the preset standard environment information, the method of the embodiment may further include: sending a warning signal of the abnormal air route environment of the main task air route to a ground station terminal so that the ground station terminal receives the abnormal air route environment information; receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal; and switching the unmanned aerial vehicle from the current flying main task air line to other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
In a specific embodiment, receiving an airline switching instruction sent by a ground station terminal to an unmanned aerial vehicle may specifically include: receiving an instruction of switching to a designated main mission air route to be flown from a ground station terminal to an unmanned aerial vehicle; or receiving an instruction which is sent by the ground station terminal to the unmanned aerial vehicle and needs to be switched by the air route; determining a main task air route of a target to be switched to fly according to real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route; and determining a main task air route to be switched to a target to fly according to the real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route.
Correspondingly, the unmanned aerial vehicle is switched from the current main task air line to other main task air lines to be flown, and other air line tasks are continuously executed, which specifically comprises the following steps: and switching the unmanned aerial vehicle from the current flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
Wherein, the unusual alarm signal of airline environment can be for characters alarm information, picture alarm information, audio alarm information, video alarm information, light alarm information, vibrations alarm information etc. and the information that wherein can include is: the specific position coordinates of the route with the environmental abnormality, adverse factor information causing the environmental abnormality and the like.
For example, if three main mission routes are created for the first unmanned aerial vehicle, when the real-time environment information corresponding to the main mission route 1 currently flying is not matched with the preset standard environment information, a route environment abnormality alarm signal corresponding to the main mission route 1 is sent to the ground station, so that the ground station terminal receives the route environment abnormality information; after receiving the alarm information, the ground station terminal can send an air route switching instruction for switching to any air route of the air routes 2 or 3 to the unmanned aerial vehicle, and can also only send the air route switching instruction to the unmanned aerial vehicle, the unmanned aerial vehicle automatically selects and switches to the air routes 2 or 3 according to the real-time environmental information, and continues to execute a target task corresponding to the switched air routes.
By the method, when the fact that the real-time environment information corresponding to the current main task air route of the unmanned aerial vehicle is not matched with the preset standard environment information corresponding to the current main task air route of the unmanned aerial vehicle is determined, the unmanned aerial vehicle can be immediately switched into other main task air routes to be flown from the current main task air route, the main task air route to be switched can be selected under the control of the ground station, the main task air route to be switched can also be automatically determined according to the acquired real-time environment information or the priority of the main task air route after the ground station sends out an air route switching command, the versatility of air route selection is enhanced, the dangerous situation can be well avoided, the risk of crash is reduced, air route tasks are continuously executed when the air route is switched to other air routes, the working efficiency can be guaranteed to be kept when an emergency situation occurs, and the waste of time is reduced.
In a specific application scenario, in order to make the unmanned aerial vehicle more regular when a plurality of mission routes are preset for flying, and meet a priority selection during mission execution, as a preferred mode, the embodiment may further include: configuring priorities of a plurality of main task routes; and if the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is determined to be matched with the preset standard flight environment information, sequentially executing the main task air routes according to the priority ranking sequence.
For example, if it is determined that there are four routes a, b, c, and d that the drone needs to execute, if it is determined in advance that the priority of the four routes is from high to low: c. a, d and b, after determining that the real-time environment information corresponding to the main task route of the current flight of the unmanned aerial vehicle is matched with the preset standard flight environment information, sequentially executing the main task route according to the priority arrangement sequence of the four routes, namely, the execution sequence is route c, route a, route d and route b.
In a specific application scenario, in order to continuously optimize a mission route of the unmanned aerial vehicle and reduce unnecessary switching between routes, the embodiment may further include: and after the unmanned aerial vehicle task is executed, updating the created information of the plurality of main task air routes and the switching route according to the actual flight condition information.
For example, according to the analyzed flight environment information or historical flight record information, if an interfering object influencing flight exists at the point A in the air route 1, the route planning can be performed on the air route 1 again, the route is further improved, and similarly, a new air route task can be uploaded to the storage position of the unmanned aerial vehicle.
By the multi-task route planning method, a plurality of main task routes of the unmanned aerial vehicle can be created in advance, switching route information among the main task routes is configured according to flight environment information obtained through analysis, and route tasks are sequentially executed according to preset route task priorities when the current flight state is stable and no route switching command exists; when meeting the emergency condition that the air route needs to be changed, or determining that the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is not matched with the preset standard environment information, the air route conversion is carried out, so that the normal execution of the air route task is not influenced even if the unmanned aerial vehicle meets the emergency condition, the working efficiency is improved, the air crash risk is reduced, and the safety of the operation of the unmanned aerial vehicle can be further ensured. And after the task is executed, the created main task air routes and switching route information can be updated according to the actual flight condition information, the flight function of the unmanned aerial vehicle can be continuously optimized, the integrity of the flight route is enhanced, the electric quantity consumption of the unmanned aerial vehicle is reduced, and the effect of saving energy is achieved.
Further, as a specific implementation of the method shown in fig. 1 and fig. 2, an embodiment of the present application provides a multitask route planning device for a flight controller of an unmanned aerial vehicle, and as shown in fig. 3, the device includes: a creation unit 31, an analysis unit 32, a configuration unit 33, a switching unit 34.
A creation unit 31 operable to create or receive a plurality of primary mission routes for the drone;
the analysis unit 32 is configured to analyze the plurality of main task routes respectively to obtain standard flight environment information corresponding to the plurality of main task routes respectively;
the configuration unit 33 is used for configuring switching route information among a plurality of main task routes according to the standard environment information flying environment information, so that the unmanned aerial vehicle executes a plurality of route tasks according to the plurality of main task routes and the switching route information;
the switching unit 34 is configured to switch the unmanned aerial vehicle from the currently flying main task air line to another main task air line to be flown and continue to execute another air line task if it is determined that the real-time environment information corresponding to the currently flying main task air line of the unmanned aerial vehicle does not match the preset standard environment information corresponding to the currently flying main task air line.
The configuration unit 33 is specifically configured to predict adverse factor information affecting the flight of the unmanned aerial vehicle in each main task route according to the flight environment information corresponding to each main task route; and configuring route switching points and switching routes among a plurality of main task routes according to the adverse factor information.
In a specific application scenario, the switching unit 34 may be specifically configured to acquire real-time environment information through a sensor configured by the unmanned aerial vehicle; acquiring the similarity between the real-time environment information and preset standard environment information; if the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through air route switching points and switching routes among the main task air routes, and the air route task is continuously executed.
In a specific application scenario, the configuration unit 33 may be further configured to configure priorities of a plurality of main mission routes;
in a specific application scenario, in order to enable the unmanned aerial vehicle to sequentially execute the route tasks when the main task route of the current flight of the unmanned aerial vehicle meets a preset standard, as shown in fig. 4, the apparatus further includes: an execution unit 35.
The executing unit 35 may be configured to, if it is determined that the real-time environment information corresponding to the main task route currently flown by the unmanned aerial vehicle matches the preset standard flight environment information, sequentially execute the plurality of main task routes according to the priority ranking order.
In a specific application scenario, the switching unit 34 may be further configured to send an abnormal airline environment alarm signal of the main mission airline to the ground station terminal, so that the ground station terminal receives the abnormal airline environment information; receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal; and switching the unmanned aerial vehicle from the current flying main task air line to other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
Correspondingly, the switching unit 34 may be further specifically configured to receive an instruction sent by the ground station terminal to the unmanned aerial vehicle to switch to the designated main mission route to be flown; or receiving an instruction which is sent by the ground station terminal to the unmanned aerial vehicle and needs to be switched by the air route; determining a main task air route of a target to be switched to fly according to real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route; and switching the unmanned aerial vehicle from the current flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
In a specific application scenario, in order to continuously optimize a mission route of an unmanned aerial vehicle and reduce unnecessary switching between routes, as shown in fig. 4, the apparatus further includes: an update unit 36.
And the updating unit 36 may be configured to update the created information of the multiple main task routes and the switching route according to the actual flight condition information after the task execution of the unmanned aerial vehicle is completed.
It should be noted that other corresponding descriptions of the functional units related to the multitask route planning device provided in this embodiment may refer to the corresponding descriptions in fig. 1 to fig. 2, and are not described herein again.
Based on the method shown in fig. 1 to 2, correspondingly, the present embodiment further provides a non-volatile readable storage medium, on which computer readable instructions are stored, and the readable instructions, when executed by a processor, implement the multitask route planning method shown in fig. 1 to 2.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present application.
Based on the above method shown in fig. 1 to fig. 2 and the virtual device embodiments shown in fig. 3 and fig. 4, in order to achieve the above object, the present embodiment further provides an electronic device, as shown in fig. 5, including a bus 41, a communication interface 42, a non-volatile readable storage medium 43, and a processor 44; a non-volatile readable storage medium 43 for storing a computer program 45; a processor 44 for executing a computer program 45 to implement the method of multitask route planning described above and illustrated in FIGS. 1-2; the communication interface 42 is used for realizing communication between the electronic device and an external device; bus 41 is used to couple communication interface 42, non-volatile readable storage medium 43, and processor 44.
Optionally, the electronic device may further include a user interface, a network interface, a camera, Radio Frequency (RF) circuitry, a sensor, audio circuitry, a WI-FI module, and so on. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), etc.
It will be understood by those skilled in the art that the electronic device structure provided in the present embodiment does not constitute a limitation of the physical device, and may include more or less components, or combine some components, or arrange different components.
The nonvolatile storage medium can also comprise an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the electronic device described above, and supports the operation of the information processing program and other software and/or programs. The network communication module is used for realizing communication among components in the nonvolatile storage medium and communication with other hardware and software in the information processing entity device.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus a necessary general hardware platform, and can also be implemented by hardware. Through the technical scheme, compared with the prior art, the method and the device can create a plurality of main task air routes in the unmanned aerial vehicle at one time, configure switching routes among the main task air routes according to flight environment information, execute all flight air route tasks in any sequence in the flight process of the unmanned aerial vehicle, switch the switching routes to other main task air routes to be flown in the flight process according to needs, and continue to execute other air route tasks. And can also be according to a plurality of main task air routes and switching route information that actual flight condition information updated has been established after the task is carried out, can constantly optimize the function that unmanned aerial vehicle flies, strengthen the perfection of flight route, reduce unmanned aerial vehicle's electric quantity consumption, and then play the effect of energy can be saved.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
The embodiment of the invention at least discloses the following technical scheme:
1. a multitask route planning method for a flight controller of an unmanned aerial vehicle, comprising:
creating or receiving a plurality of primary mission routes for the drone;
analyzing the plurality of main task air routes respectively to obtain flight environment information corresponding to the plurality of main task air routes respectively;
configuring switching route information among the multiple main task air routes according to the flight environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information;
and if the real-time environment information corresponding to the main task air route of the unmanned aerial vehicle flying at present is determined not to be matched with the preset standard environment information, switching the unmanned aerial vehicle from the main task air route of the unmanned aerial vehicle flying at present to other main task air routes to be flown, and continuously executing other air route tasks.
2. According to the method of 1, configuring switching route information among the multiple main task air routes according to the flight environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information, and specifically comprises the following steps:
according to the flight environment information corresponding to each main task air route, forecasting adverse factor information influencing the flight of the unmanned aerial vehicle in each main task air route;
and configuring route switching points and switching routes among the main task routes according to the adverse factor information.
3. According to the method of 2, if it is determined that the real-time environment information corresponding to the current main mission air line of the unmanned aerial vehicle does not match the preset standard environment information corresponding to the current main mission air line of the unmanned aerial vehicle, the unmanned aerial vehicle is switched from the current main mission air line of the unmanned aerial vehicle to other main mission air lines to be flown, and other air line tasks are continuously executed, specifically including:
acquiring the real-time environment information through a sensor configured by the unmanned aerial vehicle;
acquiring the similarity between the real-time environment information and the preset standard environment information;
if the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through the air route switching points among the main task air routes and the switching route, and air route tasks are continuously executed.
4. The method of 1, further comprising:
configuring priorities of the plurality of primary mission routes;
and if the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is determined to be matched with the preset standard flight environment information, sequentially executing the plurality of main task air routes according to the priority ranking sequence.
5. According to the method of 1, if it is determined that the real-time environment information corresponding to the main mission air line of the current flight of the unmanned aerial vehicle does not match the preset standard environment information, the method further includes:
sending a warning signal of the abnormal air route environment of the main task air route to a ground station terminal so that the ground station terminal receives the abnormal air route environment information;
switching the unmanned aerial vehicle from the current flying main task air line to other main task air lines to be flown, and continuously executing other air line tasks, wherein the method specifically comprises the following steps:
receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal;
and switching the unmanned aerial vehicle from the currently flying main task air line to the other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
6. According to the method of 5, the receiving of the route switching instruction sent by the ground station terminal to the unmanned aerial vehicle specifically includes:
receiving an instruction of switching to a designated main mission air route to be flown from the ground station terminal to the unmanned aerial vehicle; or
Receiving an instruction which is sent to the unmanned aerial vehicle by the ground station terminal and needs to be switched by a route; determining a main task air route of a target to be switched to fly according to the real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route;
according to the air route switching instruction, the unmanned aerial vehicle is switched from the current flying main task air route to other main task air routes to be flown, and other air route tasks are continuously executed, wherein the method specifically comprises the following steps:
and switching the unmanned aerial vehicle from the currently flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
7. The method of any of claims 1 to 6, further comprising:
and after the unmanned aerial vehicle task is executed, updating the created multiple main task air routes and the switching route information according to actual flight condition information.
8. A multitasking route planning device for a flight controller for an unmanned aerial vehicle, comprising:
the unmanned aerial vehicle system comprises a creating unit, a receiving unit and a control unit, wherein the creating unit is used for creating or receiving a plurality of main task air routes of the unmanned aerial vehicle;
the analysis unit is used for analyzing the plurality of main task air routes respectively to obtain standard flight environment information corresponding to the plurality of main task air routes respectively;
the configuration unit is used for configuring switching route information among the multiple main task air routes according to the standard environment information flying environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information;
and the switching unit is used for switching the unmanned aerial vehicle from the current main task air line to other main task air lines to be flown and continuously executing other air line tasks if the fact that the real-time environment information corresponding to the current main task air line of the unmanned aerial vehicle is not matched with the preset standard environment information corresponding to the current main task air line of the unmanned aerial vehicle is determined.
9. According to the method of 8, the configuration unit is specifically configured to predict adverse factor information affecting the flight of the unmanned aerial vehicle in each main mission air line according to the flight environment information corresponding to each main mission air line; and configuring route switching points and switching routes among the main task routes according to the adverse factor information.
10. According to the method of 8, the switching unit is specifically configured to acquire the real-time environment information through a sensor configured by the drone; acquiring the similarity between the real-time environment information and the preset standard environment information; if the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through the air route switching points among the main task air routes and the switching route, and air route tasks are continuously executed.
11. The apparatus of 8, further comprising: and an execution unit.
The configuration unit is also used for configuring the priorities of the plurality of main task routes;
and the execution unit is used for sequentially executing the main task air routes according to the priority ranking sequence if the real-time environment information corresponding to the main task air route currently flown by the unmanned aerial vehicle is determined to be matched with the preset standard flying environment information.
12. According to the method of 8, the switching unit is further specifically configured to: sending a warning signal of the abnormal air route environment of the main task air route to a ground station terminal so that the ground station terminal receives the abnormal air route environment information; receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal; and switching the unmanned aerial vehicle from the currently flying main task air line to the other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
13. According to the method of claim 12, the switching unit is further specifically configured to: receiving an instruction of switching to a designated main mission air route to be flown from the ground station terminal to the unmanned aerial vehicle; or receiving an instruction which is sent by the ground station terminal to the unmanned aerial vehicle and needs to be switched by the air route; determining a main task air route of a target to be switched to fly according to the real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route; and switching the unmanned aerial vehicle from the currently flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
14. According to the method of any one of 8 to 13, after the unmanned aerial vehicle task is executed, the created multiple main task routes and the switching route information are updated according to actual flight condition information.
15. A non-transitory readable storage medium having stored thereon a computer program which, when executed by a computer, implements the multitask route planning method of any one of 1 to 7.
16. An electronic device comprising a non-transitory readable storage medium, a processor, and a computer program stored on the non-transitory readable storage medium and executable on the processor, the processor when executing the program implementing the method of multitask route planning of any one of 1 to 7.
Claims (14)
1. A multitask route planning method for a flight controller of an unmanned aerial vehicle, comprising:
creating or receiving a plurality of primary mission routes for the drone;
analyzing the plurality of main task air routes respectively to obtain flight environment information corresponding to the plurality of main task air routes respectively;
configuring switching route information among the multiple main task air routes according to the flight environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information, wherein the switching route information is communication switching routes and switching point information among different main task air routes;
acquiring real-time environment information through a sensor configured by an unmanned aerial vehicle, and if the fact that the real-time environment information corresponding to a main task route currently flying by the unmanned aerial vehicle is not matched with preset standard environment information is determined, switching the unmanned aerial vehicle from the main task route currently flying into other main task routes to be flown, and continuously executing other route tasks;
and after the unmanned aerial vehicle task is executed, updating the created multiple main task air routes and the switching route information according to actual flight condition information.
2. The method according to claim 1, wherein the configuring, according to the flight environment information, switching route information between the plurality of main task routes so that the unmanned aerial vehicle executes a plurality of route tasks according to the plurality of main task routes and the switching route information specifically comprises:
according to the flight environment information corresponding to each main task air route, forecasting adverse factor information influencing the flight of the unmanned aerial vehicle in each main task air route;
and configuring route switching points and switching routes among the main task routes according to the adverse factor information.
3. The method according to claim 2, wherein if it is determined that the real-time environment information corresponding to the currently flying main mission air line of the unmanned aerial vehicle does not match the preset standard environment information corresponding to the currently flying main mission air line, the unmanned aerial vehicle is switched from the currently flying main mission air line to other main mission air lines to be flown, and other air line tasks are continuously executed, specifically including:
acquiring the real-time environment information through a sensor configured by the unmanned aerial vehicle;
acquiring the similarity between the real-time environment information and the preset standard environment information;
if the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through the air route switching points among the main task air routes and the switching route, and air route tasks are continuously executed.
4. The method of claim 1, further comprising:
configuring priorities of the plurality of primary mission routes;
and if the real-time environment information corresponding to the main task air route of the current flight of the unmanned aerial vehicle is determined to be matched with the preset standard flight environment information, sequentially executing the plurality of main task air routes according to the priority ranking sequence.
5. The method according to claim 1, if it is determined that the real-time environment information corresponding to the main mission route in which the unmanned aerial vehicle currently flies does not match the preset standard environment information, the method further comprising:
sending a warning signal of the abnormal air route environment of the main task air route to a ground station terminal so that the ground station terminal receives the abnormal air route environment information;
switching the unmanned aerial vehicle from the current flying main task air line to other main task air lines to be flown, and continuously executing other air line tasks, wherein the method specifically comprises the following steps:
receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal;
and switching the unmanned aerial vehicle from the currently flying main task air line to the other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
6. The method according to claim 5, wherein the receiving of the route switching instruction sent by the ground station terminal to the drone specifically includes:
receiving an instruction of switching to a designated main mission air route to be flown from the ground station terminal to the unmanned aerial vehicle; or
Receiving an instruction which is sent to the unmanned aerial vehicle by the ground station terminal and needs to be switched by a route; determining a main task air route of a target to be switched to fly according to the real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route;
according to the air route switching instruction, the unmanned aerial vehicle is switched from the current flying main task air route to other main task air routes to be flown, and other air route tasks are continuously executed, wherein the method specifically comprises the following steps:
and switching the unmanned aerial vehicle from the currently flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
7. A multitasking route planning device for a flight controller for an unmanned aerial vehicle, comprising:
the unmanned aerial vehicle system comprises a creating unit, a receiving unit and a control unit, wherein the creating unit is used for creating or receiving a plurality of main task air routes of the unmanned aerial vehicle;
the analysis unit is used for analyzing the plurality of main task air routes respectively to obtain standard flight environment information corresponding to the plurality of main task air routes respectively;
the configuration unit is used for configuring switching route information among the multiple main task air routes according to the standard flight environment information, so that the unmanned aerial vehicle executes multiple air route tasks according to the multiple main task air routes and the switching route information, and the switching route information is communication switching routes and switching point information among different main task air routes;
the switching unit is used for acquiring real-time environment information through a sensor configured by the unmanned aerial vehicle, and if the fact that the real-time environment information corresponding to the current main task air route flying by the unmanned aerial vehicle is not matched with preset standard environment information corresponding to the current main task air route flying by the unmanned aerial vehicle is determined, the unmanned aerial vehicle is switched from the current main task air route flying by the unmanned aerial vehicle to other main task air routes to be flown, and other air route tasks are continuously executed;
and the updating unit is used for updating the created multiple main task air routes and the switching route information according to the actual flight condition information after the unmanned aerial vehicle task is executed.
8. The device according to claim 7, wherein the configuration unit is specifically configured to predict, according to the flight environment information corresponding to each primary mission route, adverse factor information that affects the flight of the unmanned aerial vehicle in each primary mission route; and configuring route switching points and switching routes among the main task routes according to the adverse factor information.
9. The apparatus of claim 7, the switching unit, in particular to collect the real-time environmental information by a sensor configured by the drone; acquiring the similarity between the real-time environment information and the preset standard environment information; if the similarity is smaller than a preset environment comparison threshold value or special environment factors influencing flight exist in the real-time environment information, the unmanned aerial vehicle is switched to other main task air routes to be flown through the air route switching points among the main task air routes and the switching route, and air route tasks are continuously executed.
10. The apparatus of claim 7, further comprising: an execution unit;
the configuration unit is also used for configuring the priorities of the plurality of main task routes;
and the execution unit is used for sequentially executing the main task air routes according to the priority ranking sequence if the real-time environment information corresponding to the main task air route currently flown by the unmanned aerial vehicle is determined to be matched with the preset standard flying environment information.
11. The apparatus according to claim 7, wherein the switching unit is further specifically configured to: sending a warning signal of the abnormal air route environment of the main task air route to a ground station terminal so that the ground station terminal receives the abnormal air route environment information; receiving a route switching instruction sent to the unmanned aerial vehicle by the ground station terminal; and switching the unmanned aerial vehicle from the currently flying main task air line to the other main task air lines to be flown according to the air line switching instruction, and continuously executing other air line tasks.
12. The apparatus according to claim 11, wherein the switching unit is further specifically configured to: receiving an instruction of switching to a designated main mission air route to be flown from the ground station terminal to the unmanned aerial vehicle; or receiving an instruction which is sent by the ground station terminal to the unmanned aerial vehicle and needs to be switched by the air route; determining a main task air route of a target to be switched to fly according to the real-time environment information acquired by the unmanned aerial vehicle or the priority of the main task air route; and switching the unmanned aerial vehicle from the currently flying main task air line into the target main task air line to be flown, and continuously executing the target air line task.
13. A non-transitory readable storage medium having stored thereon a computer program which, when executed by a computer, implements the multitask route planning method according to any one of claims 1 to 6.
14. An electronic device comprising a non-transitory readable storage medium, a processor, and a computer program stored on the non-transitory readable storage medium and executable on the processor, the processor when executing the program implementing the method of multitask route planning of any one of claims 1 through 6.
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