CN111213102A

CN111213102A - Task management method and device for load of unmanned aerial vehicle

Info

Publication number: CN111213102A
Application number: CN201980004917.XA
Authority: CN
Inventors: 刘启明; 陈超彬
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen DJ Innovation Industry Co Ltd
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2020-05-29
Also published as: WO2020154996A1

Abstract

A task management method and device for a load of an unmanned aerial vehicle are provided, wherein the task management method for the load of the unmanned aerial vehicle comprises the following steps: acquiring a flight route (201) of the unmanned aerial vehicle; acquiring a work task of a load corresponding to a flight path (202); splitting a work task into a plurality of work subtasks (203); in the process that the unmanned aerial vehicle flies on a flight route, one work subtask to be executed is determined from the plurality of work subtasks, and the work subtask to be executed is updated to a storage device of a flight controller of the unmanned aerial vehicle, so that the flight controller controls a load to execute an action task (204) when the unmanned aerial vehicle reaches a task position point corresponding to the action task included in the work subtask to be executed. By adopting the method, the unmanned aerial vehicle can meet the application scene that the number of action tasks of the load is continuously increased.

Description

Task management method and device for load of unmanned aerial vehicle

Technical Field

The invention relates to the technical field of communication, in particular to a task management method and equipment for a load of an unmanned aerial vehicle.

Background

With the increasing application range and endurance time of the unmanned aerial vehicle, the number of action tasks to be performed by the load (cradle head, camera, sprinkler, infrared device, etc.) of the unmanned aerial vehicle is huge. For example, when the unmanned aerial vehicle flies according to a preset flight line to patrol a plurality of towers, and when the unmanned aerial vehicle arrives at a task position point at each time, the load of the unmanned aerial vehicle may need to execute a plurality of action tasks, for example, the station rotates to align with a monitoring point, a camera carried on a cradle head zooms, focuses on the camera, photographs with the camera, and the like, so that the number of action tasks that the load needs to execute in the whole patrol task is very large.

However, since the storage amount of the storage device of the flight controller of the unmanned aerial vehicle is limited, only a limited number of action tasks of the load can be stored, and thus, in the prior art, only a small number of action tasks can be set for each action position point, which cannot satisfy an application scenario in which the number of action tasks of the load is large.

Disclosure of Invention

The embodiment of the invention provides a task management method and equipment for a load of an unmanned aerial vehicle, so that the unmanned aerial vehicle can meet the application scenario that the number of action tasks of the load is continuously increased.

In a first aspect, an embodiment of the present invention provides a task management method for a load of an unmanned aerial vehicle, which is applied to a task management device for the load, and is characterized in that the method includes:

acquiring a flight path of the unmanned aerial vehicle, wherein the flight path comprises a plurality of task position points;

acquiring a work task of the load corresponding to the flight route, wherein the work task comprises an action task corresponding to each task position point in the plurality of task position points;

splitting the work task into a plurality of work subtasks, wherein each of the plurality of work subtasks includes one or more action tasks;

the unmanned aerial vehicle is in the in-process of flying on the flight route, follow a work subtask of treating the execution in a plurality of work subtasks, and will the work subtask of treating the execution is updated to in unmanned aerial vehicle's flight controller's storage device, so that flight controller is when unmanned aerial vehicle reaches the task position point that the action task that the work subtask of treating the execution includes corresponds, control the load and carry out the action task.

In a second aspect, an embodiment of the present invention provides a task management device, which is characterized by comprising a memory and a processor:

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium is characterized by storing a computer program, where the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method for task management of a load of a drone according to the first aspect.

In the embodiment of the invention, the task management equipment divides the work task of the load into a plurality of work subtasks, determines a work subtask to be executed from the plurality of work subtasks in the process of flying the unmanned aerial vehicle on a flight route, and updates the work subtask to be executed into the storage device of the flight controller of the unmanned aerial vehicle, so that the flight controller controls the load to execute the action task when the unmanned aerial vehicle reaches a task position point corresponding to the action task included in the work subtasks to be executed. Through this kind of mode, unmanned aerial vehicle can satisfy the action task quantity continuously growing application scene of load, simultaneously, and convenience of customers once only types the action task of great quantity of load, can not receive flight controller's storage device's storage capacity's restriction, has improved the execution efficiency of the action task of load.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a structural diagram of a task management system according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a task management method according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a task management device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a task management method which can be applied to task management equipment and is mainly used for splitting a work task of a load into a plurality of work subtasks, determining a work subtask to be executed from the plurality of work subtasks in the process that an unmanned aerial vehicle flies on a flight route, and updating the work subtask to be executed into a storage device of a flight controller of the unmanned aerial vehicle, so that the flight controller controls the load to execute an action task when the unmanned aerial vehicle reaches a task position point corresponding to the action task included in the work subtask to be executed.

Aiming at the application scene that the existing unmanned aerial vehicle meets the requirement of a large number of action tasks of a load, the embodiment of the invention updates the to-be-executed work subtasks into the storage device of the flight controller of the unmanned aerial vehicle by splitting the work tasks of the load into a plurality of work subtasks in the process that the unmanned aerial vehicle flies on a flight route, so that the flight controller controls the load to execute the action tasks when the unmanned aerial vehicle reaches the task position points corresponding to the action tasks included in the to-be-executed work subtasks. Through this kind of mode, unmanned aerial vehicle can satisfy the action task quantity continuously growing application scene of load, simultaneously, and convenience of customers once only types the action task of great quantity of load, can not receive flight controller's storage device's storage capacity's restriction, has improved the execution efficiency of the action task of load.

Wherein, task management equipment can set up on unmanned aerial vehicle or with unmanned aerial vehicle communication connection's ground control end. The ground control terminal may include one or more of a ground station or a remote control device, etc. The remote control device may include one or more of a remote controller, a mobile phone, a computer, or a terminal device such as a parameter adjusting screen.

Wherein the drone may carry at least one load, such as a sensor, a pan-tilt, a positioning device, or a sprinkler, etc., and the sensor may comprise a camera or a radar, etc. The drone may also be configured with a flight controller for controlling the load to perform the action task. The flight controller may be configured with storage means for storing work subtasks to be executed, which are sent by the task management device.

Referring to fig. 1, a structural diagram of a task management system according to an embodiment of the present invention is shown in fig. 1, where the task management system may include an unmanned aerial vehicle 10 and a ground control end 20, the unmanned aerial vehicle 10 is connected to the ground control end 20, and the unmanned aerial vehicle 10 is configured with at least one load. The ground control end 20 and the unmanned aerial vehicle 10 can be connected in a wireless or Bluetooth mode.

In one embodiment, the task management device may be disposed in the ground control terminal 20, i.e., the ground control terminal 20 includes the task management device. The task management device may generate a flight path of the unmanned aerial vehicle 10 and acquire a work task of a load corresponding to the flight path. The task management device divides the work task into a plurality of work subtasks, determines a work subtask to be executed from the plurality of work subtasks in the process that the unmanned aerial vehicle 10 flies on the flight route, and updates the work subtask to be executed to a storage device of a flight controller of the unmanned aerial vehicle 10, so that the flight controller controls the load to execute the action task when the unmanned aerial vehicle 10 reaches a task position point corresponding to the action task included in the work subtask to be executed.

The mode of generating the flight path of the unmanned aerial vehicle 10 by the task management device may be as follows:

firstly, a user carries out editing operation on a historical task on a user interface of task management equipment, and when the task management equipment detects the editing operation of the user, the editing information input by the user is obtained. The task management device generates a flight path of the unmanned aerial vehicle 10 based on the historical tasks and the editing information according to a preset rule protocol. The historical task may be acquired by the task management device in the local storage of the ground control terminal 20, may also be acquired by the task management device from the unmanned aerial vehicle 10, and may also be downloaded by the task management device through the internet, which is not specifically limited by the embodiment of the present application.

Secondly, the user performs configuration operation of the flight path of the unmanned aerial vehicle 10 at the user interface of the task management device, for example, the content of each action task is configured, and the content of the action task may include a load identifier, an action task description, an action task identifier, and the like for executing the action task. When the task management device detects the configuration operation of the user, the content of each action task input by the user is obtained, and the flight path of the unmanned aerial vehicle 10 is generated based on the content of each action task according to a preset rule protocol.

Thirdly, the task management device can acquire a mapping result generated in advance, and generate the flight line of the unmanned aerial vehicle 10 based on the mapping result.

In one embodiment, the task management device may be provided in the drone 10, i.e. the drone 10 comprises the task management device. The task management device can acquire a flight line of the unmanned aerial vehicle 10 and acquire a work task of a load corresponding to the flight line, the task management device divides the work task into a plurality of work subtasks, in the process that the unmanned aerial vehicle 10 flies on the flight line, the task management device determines a work subtask to be executed from the plurality of work subtasks, and the task management device updates the work subtask to be executed to a storage device of a flight controller of the unmanned aerial vehicle 10, so that the flight controller controls the load to execute an action task when the unmanned aerial vehicle 10 reaches a task position point corresponding to an action task included in the work subtask to be executed.

For example, the flight path of the unmanned aerial vehicle 10 may be acquired from the ground control terminal 20, for example, after the ground control terminal 20 generates the flight path, the ground control terminal 20 detects the uploading operation of the user and transmits the flight path to the unmanned aerial vehicle 10. Optionally, the flight route may also be acquired from other unmanned aerial vehicles, and may also be downloaded through the internet, which is not specifically limited by the embodiment of the present application.

In one embodiment, if the storage device of the flight controller can store the work task of the load, the flight controller may obtain the flight path of the unmanned aerial vehicle 10, obtain the work task of the load corresponding to the flight path, and control the load to execute the action task when the unmanned aerial vehicle 10 reaches the task position point corresponding to the action task included in the work subtask to be executed.

In one embodiment, after the drone 10 acquires the flight path of the drone 10, the user may incrementally modify the flight path or the work task corresponding to the flight path through the ground control 20. If the modified content is part of the flight path or the work task, the ground control end can only send the modified content to the unmanned aerial vehicle, and the unmanned aerial vehicle updates the flight path or the work task based on the modified content. By incremental transmission, the embodiment of the application can save the link bandwidth between the ground control end 20 and the unmanned aerial vehicle 10.

The incremental modification can be adding part of content to the flight route or the work task, deleting part of content of the flight route or the work task, or modifying part of content of the flight route or the work task.

Referring to fig. 2, a task management method provided in an embodiment of the present invention may be used in the task management system shown in fig. 1, where the task management method may be executed by a task management device, and the task management method may include the following steps:

step 201, a task management device obtains a flight path of the unmanned aerial vehicle, wherein the flight path comprises a plurality of task position points.

In specific implementation, if the task management device is arranged in the unmanned aerial vehicle, the task management device can receive the flight route of the unmanned aerial vehicle sent by the ground control end, or obtain the flight route from other unmanned aerial vehicles, or download the flight route through the internet. If the task management equipment is arranged in the ground control terminal, the task management equipment can receive the flight route submitted by the user, or acquire the flight route from the unmanned aerial vehicle, or download the flight route through the Internet.

In one embodiment, the mission location point may be determined from a waypoint in the flight path. For example, a location that is located after each waypoint in the flight path and is spaced from the waypoint by a preset distance threshold is taken as a mission location point. As another example, consider the Nth waypoint in the flight path as the mission location point, with N being an even number. As another example, a location after each waypoint in the flight path and having a flight speed at the first preset speed threshold is taken as a mission location point.

In one embodiment, the mission location point may be a waypoint in a flight path. I.e., each waypoint in the flight path as a mission location point. For example, a flight path includes 100 waypoints, then the flight path includes 100 mission location points, and the location of the mission location point in the flight path is the same as the location of the waypoint in the flight path.

In one embodiment, when the flight state parameter of the unmanned aerial vehicle satisfies the preset flight state condition, the task management device may determine that the unmanned aerial vehicle reaches the task location point, wherein the flight state parameter may include one or more of a flight speed of the unmanned aerial vehicle, a flight acceleration of the unmanned aerial vehicle, an attitude of the unmanned aerial vehicle, and an attitude of a load of the unmanned aerial vehicle.

If the task management equipment is arranged in the unmanned aerial vehicle, for example, the flight state parameter is the flight speed of the unmanned aerial vehicle, when the flight speed of the unmanned aerial vehicle is greater than a second preset speed threshold value, the task management equipment can determine that the flight speed of the unmanned aerial vehicle meets a preset flight state condition, and then determine that the unmanned aerial vehicle reaches a task position point. For another example, the flight state parameter is a flight acceleration of the unmanned aerial vehicle, and when the flight acceleration of the unmanned aerial vehicle is greater than a preset acceleration threshold, the task management device may determine that the acceleration of the unmanned aerial vehicle meets a preset flight state condition, and then determine that the unmanned aerial vehicle reaches a task position point. For another example, the flight state parameter is the attitude of the unmanned aerial vehicle, and when the attitude of the unmanned aerial vehicle is matched with the first preset attitude, the task management device can determine that the attitude of the unmanned aerial vehicle meets the preset flight state condition, and further determine that the unmanned aerial vehicle reaches the task position point. For another example, the flight state parameter is an attitude of a load of the unmanned aerial vehicle, and when the attitude of the load of the unmanned aerial vehicle is matched with a second preset attitude, the task management device can determine that the attitude of the load of the unmanned aerial vehicle meets a preset flight state condition, and further determine that the unmanned aerial vehicle reaches a task position point.

If the task management device is arranged in the ground control end, for example, after the unmanned aerial vehicle acquires flight state parameters of the unmanned aerial vehicle, the unmanned aerial vehicle sends the flight state parameters to the task management device, the task management device judges whether the flight state parameters meet preset flight state conditions, and when the flight state parameters meet the preset flight state conditions, the ground control end can determine that the unmanned aerial vehicle reaches a task position point.

Wherein, the attitude of the unmanned aerial vehicle can be one or more of a Yaw angle (Yaw), a Pitch angle (Pitch) or a Roll angle (Roll) of the unmanned aerial vehicle. The attitude of the load of the drone may be one or more of a yaw angle, a pitch angle, or a roll angle of the load.

In one embodiment, the flight status parameters may further include a current position of the unmanned aerial vehicle, and when the current position of the unmanned aerial vehicle is located in a preset area, the task management device may determine that the current position of the unmanned aerial vehicle satisfies a preset flight status condition, and then determine that the unmanned aerial vehicle reaches a task location point. For another example, the flight state parameters may further include current system time, and if the current system time is a preset time, the task management device may determine that a preset flight state condition is met, and then determine that the unmanned aerial vehicle reaches the task position point.

Step 202, the task management device obtains a work task of a load corresponding to the flight path, wherein the work task comprises an action task corresponding to each task position point in a plurality of task position points.

In specific implementation, if the task management device is arranged in the unmanned aerial vehicle, the task management device can receive a work task of a load corresponding to a flight route, which is sent by the ground control end, or obtain a work task of a load corresponding to the flight route from other unmanned aerial vehicles, or download the work task of the load corresponding to the flight route through the internet. If the task management equipment is arranged in the ground control terminal, the task management equipment can receive a work task of a load corresponding to a flight route submitted by a user, or obtain the work task of the load corresponding to the flight route from the unmanned aerial vehicle, or download the work task of the load corresponding to the flight route through the Internet.

In one embodiment, in the process of acquiring the work task of the load corresponding to the flight path, the task management device may perform validity detection on the work task to obtain a first detection result. Specifically, the task management device may detect whether there is a conflict with a work task of a load corresponding to the flight path, and if so, the first detection result is a failure. If the task management equipment is arranged in the unmanned aerial vehicle, the task management equipment can send the first detection result to the ground control end, and the ground control end can display the first detection result. If the task management device is arranged in the ground control terminal, the task management device can display the first detection result. After the first detection result is displayed, the ground control end can receive the update information of the work task of the load, submitted by the user according to the first detection result, and the ground control end sends the update information to the unmanned aerial vehicle, so that the unmanned aerial vehicle updates the work task of the load based on the update information. For example, the work tasks of the first camera are: and the task management equipment can determine that the work tasks of the first camera conflict and generate a first detection result because the same camera cannot photograph and record at the same time in the same time period. The first detection result may include a field indicating success or failure of the detection, and if the detection fails, the first detection result may further include a failure reason and a work task of a load causing the failure of the detection.

In one embodiment, if the task management device is arranged in the unmanned aerial vehicle, the ground control end can perform validity detection on the work task if the work task of the load corresponding to the flight path is sent to the task management device by the ground control end, and a second detection result is obtained. For example, the ground control terminal may perform interaction detection between the user and the ground control terminal. Illustratively, the work tasks of the user-configured load are: and 3.5 pictures are taken by the first camera, and the number of the pictures taken by the camera is a positive integer, so that the pictures with non-positive integers cannot be obtained, and the second detection result is detection failure. For another example, the ground control end may perform interaction detection between the ground control end and the task management device. For example, the action task of the load corresponding to the flight path is: the sprayer sprays pesticide at the first task position point, but the task management equipment identifies that the unmanned aerial vehicle does not mount the sprayer, the task management equipment sends a message for indicating that the unmanned aerial vehicle does not mount the sprayer to the ground control end, and the ground control end can determine that the second detection result is detection failure. Furthermore, the ground control end can display a second detection result and receive update information of the work task about the load submitted by the user aiming at the second detection result, and the ground control end updates the work task based on the update information and sends the updated work task to the unmanned aerial vehicle. The second detection result may include a field indicating success or failure of the detection, and if the detection fails, the second detection result may further include a failure reason and a work task of a load causing the failure of the detection.

Step 203, the task management device splits the work task into a plurality of work subtasks, wherein each of the plurality of work subtasks includes one or more action tasks.

In one embodiment, the task management device may split the work task into a plurality of work subtasks, so that the number of task position points corresponding to the action task included in each of the plurality of work subtasks is less than or equal to a first preset number threshold.

For example, the number of task position points corresponding to the action task included in the last work subtask is less than or equal to a first preset number threshold, and the number of task position points corresponding to the action task included in other work subtasks except the last work subtask in the plurality of work subtasks is equal to the first preset number threshold. For example, the flight route includes 100 task position points, and the first preset number threshold is 30, the task management device may split the work task of the load corresponding to the flight route into 4 work subtasks, where the task position points corresponding to the action tasks included in the first work subtask are first to thirty task position points, the task position points corresponding to the action tasks included in the second work subtask are thirty-first to sixty task position points, the task position points corresponding to the action tasks included in the third work subtask are sixteenth to ninety task position points, and the task position points corresponding to the action tasks included in the fourth work subtask are nineteenth to one hundred task position points.

For another example, the number of task location points corresponding to the action task included in each work subtask is different. For example, the flight route includes 100 task position points, and the first preset number threshold is 30, the task management device may split the work task of the load corresponding to the flight route into 4 work subtasks, where the task position point corresponding to the action task included in the first work subtask is the first to thirty-th task position points, the task position point corresponding to the action task included in the second work subtask is the thirty-first to fifty-ninth task position points, the task position point corresponding to the action task included in the third work subtask is the sixteenth to eighty-seventh task position points, and the task position point corresponding to the action task included in the fourth work subtask is the eighty-eighth to hundred-th task position points.

For another example, the number of task position points corresponding to the action task included in the plurality of work subtasks is partially the same. For example, the flight route includes 100 task position points, and the first preset number threshold is 30, the task management device may split the work task of the load corresponding to the flight route into 4 work subtasks, where the task position points corresponding to the action tasks included in the first work subtask are first to thirty task position points, the task position points corresponding to the action tasks included in the second work subtask are thirty-first to sixty task position points, the task position points corresponding to the action tasks included in the third work subtask are sixteenth to ninety task position points, and the task position points corresponding to the action tasks included in the fourth work subtask are nineteenth to one hundred task position points.

In an embodiment, if each action task corresponds to one piece of execution time information, the task management device may group the action tasks included in the work task according to the execution time information corresponding to the action task to obtain a plurality of action task groups, and determine each of the plurality of action task groups as a work subtask.

For example, the task management device may divide the action tasks with the execution time of the first time interval into a first action task group, divide the action tasks with the execution time of the second time interval into a second action task group, and divide the action tasks with the execution time of the third time interval into a third action task group, where the action tasks included in the first action task group constitute a first work subtask, the action tasks included in the second action task group constitute a second work subtask, and the action tasks included in the third action task group constitute a third work subtask. Illustratively, the execution time of the flight path is 7:00 to 10:00, the task management device may divide the action tasks having the execution time of [7:00, 8:00] into a first action task group, divide the action tasks having the execution time of (8:00, 9: 00) into a second action task group, and divide the action tasks having the execution time of (9:00, 10: 00) into a third action task group.

For another example, the task management device may divide the action tasks included in the work task into a plurality of action task groups at preset time intervals. For example, assume that the execution time of the flight path is 7:00 to 10:00, the preset time interval is 60 minutes (min), and the difference between the execution times of the action tasks included in each action task group is less than or equal to the preset time interval, the task management device may divide the action tasks with the execution time of [7:00, 8:00] into a first action task group, divide the action tasks with the execution time of (8:00, 9:00] into a second action task group, and divide the action tasks with the execution time of (9:00, 10: 00) into a third action task group.

In one embodiment, a difference value between execution time information corresponding to each action task included in each work subtask is smaller than a preset time length threshold. For example, assume that the execution time of the flight path is 7:00 to 10:00, the preset time interval is 50 minutes (min), and the difference between the execution times of the action tasks included in each action task group is less than the preset time interval, the task management device may divide the action tasks with the execution time of [7:00, 7:50] into a first action task group, divide the action tasks with the execution time of [7: 50, 8:0] into a second action task group, divide the action tasks with the execution time of (8:40, 9:30] into a third action task group, and divide the action tasks with the execution time of (9:30, 10:00] into a fourth action task group.

In an embodiment, the task management device may group the action tasks included in the work task according to the execution distance information corresponding to the action task to obtain a plurality of action task groups, and determine each of the plurality of action task groups as a work subtask.

For example, the task management device may divide the action tasks with the execution distance of the first distance interval into a first action task group, divide the action tasks with the execution distance of the second distance interval into a second action task group, and divide the action tasks with the execution distance of the third distance interval into a third action task group, where the action tasks included in the first action task group constitute a first work subtask, the action tasks included in the second action task group constitute a second work subtask, and the action tasks included in the third action task group constitute a third work subtask. Illustratively, the flight route has an execution distance of 6 kilometers (km), and the task management device may divide the action tasks having the execution distance of [0, 2km ] into a first action task group, divide the action tasks having the execution distance of (2km, 4km ] into a second action task group, and divide the action tasks having the execution distance of (4km, 6km ] into a third action task group.

For another example, the task management device may divide the action tasks included in the work task into a plurality of action task groups according to a preset distance interval. For example, assuming that the execution distance of the flight route is 6km, the preset time interval is 2km, and the difference between the execution distance information of the action tasks included in each action task group is less than or equal to the preset distance interval, the task management device may divide the action tasks having the execution distance of [0, 2km ] into a first action task group, divide the action tasks having the execution distance of (2km, 4km ] into a second action task group, and divide the action tasks having the execution distance of (4km, 6km ] into a third action task group.

In one embodiment, a difference value between execution distance information corresponding to each action task included in each work subtask is smaller than a preset distance threshold. For example, assuming that the execution distance of the flight route is 6km, the preset distance interval is 4km, and the difference between the execution distances of the action tasks included in each action task group is smaller than the preset distance interval, the task management device may divide the action tasks having the execution distance of [0, 4km ] into a first action task group, and divide the action tasks having the execution distance of (4km, 6km ] into a second action task group.

In one embodiment, the associated action tasks are located in the same work subtask. For example, the first action task is: the holder rotates 90 degrees, and the second action task is: the first camera takes a picture, the second action task is triggered to be executed after the first action task is finished, the first action task is associated with the second action task, and the task management device can divide the first action task and the second action task into the same work subtask.

It should be noted that the task management device may obtain a plurality of work subtasks by using any one of the above manners, or may obtain a plurality of work subtasks by combining the above manners, for example, the number of task position points corresponding to an action task included in each of the plurality of work subtasks is less than or equal to a first preset number threshold, and the associated action tasks are located in the same work subtask. For example, the number of task position points corresponding to the action task included in each of the plurality of work subtasks is less than or equal to a first preset number threshold, and the difference between the execution distance information corresponding to each action task included in each of the work subtasks is less than a preset distance threshold.

In one embodiment, when a preset splitting condition is met, the task management device may split the work task into a plurality of work subtasks.

Specifically, after the task management device obtains the work task of the load corresponding to the flight path, whether a preset splitting condition is met or not can be judged, and when the preset splitting condition is met, the task management device can split the work task into a plurality of work subtasks.

In an embodiment, when the number of the plurality of task location points is greater than or equal to a second preset number threshold, or the data volume of the work task is greater than or equal to a preset data volume threshold, the task management device determines that a preset splitting condition is met, and further splits the work task into a plurality of work subtasks. For example, the second preset number threshold is 100, the flight path includes 200 task position points, and the task management device may determine that the number of the plurality of task position points is greater than the second preset number threshold, and further determine that a preset splitting condition is met, and split the work task into a plurality of work subtasks. For another example, the preset data volume threshold is 100Mb, the data volume of the work task of the load corresponding to the flight route is 200Mb, and the task management device may determine that the data volume of the work task is greater than the preset data volume threshold, and further determine that the preset splitting condition is met, and split the work task into a plurality of work subtasks.

And 204, in the process that the unmanned aerial vehicle flies on the flight route, the task management equipment determines a work subtask to be executed from the plurality of work subtasks, and updates the work subtask to be executed to a storage device of a flight controller of the unmanned aerial vehicle, so that the flight controller controls the load to execute the action task when the unmanned aerial vehicle reaches a task position point corresponding to the action task included in the work subtask to be executed.

In one embodiment, during the flight of the unmanned aerial vehicle on the flight route, the task management device may determine whether a preset update condition is satisfied, determine a work subtask to be executed from among the plurality of work subtasks when the preset update condition is satisfied, and update the work subtask to be executed into the storage device of the flight controller of the unmanned aerial vehicle. For example, the work subtasks include a first work subtask, a second work subtask, and a third work subtask, where an execution time of the first work subtask is greater than an execution time of the second work subtask, and an execution time of the second work subtask is greater than an execution time of the third work subtask, and when the flight controller determines that a preset update condition is satisfied when controlling the load to execute the action task included in the first work subtask, the task management device may determine the second work subtask as the work subtask to be executed, and update the second work subtask to a storage device of the flight controller of the unmanned aerial vehicle.

In one embodiment, the task management device may obtain available storage space indication information of a storage device in the flight controller or execution state information of the flight controller on a previously updated work subtask, and determine whether a preset update condition is satisfied according to the available storage space indication information or the execution state information.

Wherein the previously updated work subtask may be a most recently updated work subtask or an updated work subtask among a plurality of work subtasks. The available storage space indication information is used to indicate the available storage space of the storage device. The execution state information is used to indicate that a work subtask is not executing, is executing, or has completed execution, etc.

In one embodiment, the task management apparatus may determine that a preset update condition is satisfied when it is determined that the available storage space of the storage is greater than or equal to the amount of data of the work subtask to be executed according to the storage space indication information or when it is determined that a previously updated work subtask has completed execution according to the execution state information. For example, if the data amount of the work subtask to be executed is 70Mb, the storage space indication information determines that the available storage space of the storage device is 100Mb, and the available storage space of the storage device is larger than the data amount of the work subtask to be executed, the task management apparatus may determine that the preset update condition is satisfied. For another example, the task management device may determine that all action tasks in the work subtask that is updated last time have been completed according to the execution state information, and then the task management device may determine that the preset update condition is satisfied.

In one embodiment, the task management apparatus may determine that a preset update condition is satisfied when receiving available storage space indication information of a storage device in the flight controller or execution state information of a previously updated work subtask by the flight controller. For example, the work task is split to obtain a plurality of work subtasks, and the data volume of each work subtask is smaller than a preset data volume threshold. When the available storage space of the storage device is greater than or equal to the preset data volume threshold, the flight controller sends available storage space indication information to the task management device, and after the task management device receives the available storage space indication information, the task management device can determine that the available storage space of the storage device is greater than or equal to the preset data volume threshold, that is, the storage device has enough storage space to store the work subtasks, and then the task management device can determine that the preset update condition is met. For another example, when the previously updated work subtask has been executed, the flight controller may send the execution state information of the previously updated work subtask to the task management device, and after the task management device receives the execution state information, it may be determined that the previously updated work subtask has been executed, and then the task management device may determine that the preset update condition is satisfied.

In one embodiment, the task management device may determine whether the flight time of the unmanned aerial vehicle on the flight path reaches a time period node or whether the flight distance of the unmanned aerial vehicle on the flight path reaches a distance period node, and when the time period node or the distance period node is reached, the task management device may determine that a preset update condition is satisfied. For example, the time period node may be 30min, and the task management device may determine that the preset update condition is satisfied every 30min of the flight time of the unmanned aerial vehicle on the flight route. For example, if the execution time of the flight route is 7:00-9:00, the task management device may determine that the preset update condition is satisfied at the time of 7:30,8:00, and 8: 30. For another example, the distance period node may be 1km, and the task management device may determine that the preset update condition is satisfied every 1km interval of the flight distance of the unmanned aerial vehicle on the flight route. For example, if the flight distance of the flight route is 4km, the task management device may determine that the preset update condition is satisfied when the flight distance of the unmanned aerial vehicle on the flight route reaches 1km, 2km, and 3 km.

In one embodiment, the task management device may transmit deletion request information to the flight controller, wherein the deletion request information is for requesting the flight controller to delete an action task stored in the storage means that has completed execution or an action task that is not executed within a preset time. According to the embodiment of the application, the executed action tasks stored in the storage device are deleted or the action tasks which are not executed within the preset time are deleted, so that the storage device has enough storage space to store the work subtasks to be executed, and the task execution time delay can be reduced.

In an embodiment, after the task management device updates the work subtasks to be executed to the storage device of the flight controller of the unmanned aerial vehicle, the flight controller may perform validity detection on each action task included in the work subtasks to be executed, so as to obtain a third detection result. Specifically, the flight controller may detect whether each action task included in the work subtask to be executed has a conflict, and if the conflict exists, the third detection result is a failure, and the flight controller may send the third detection result to the ground control end. The ground control end can display the third detection result and receive the update information about the action task of the load, which is submitted by the user aiming at the third detection result, and the ground control end sends the update information to the flight controller, so that the flight controller updates the work subtask to be executed based on the update information. For example, the action tasks are: the cradle head rotates 728 degrees, and the maximum angle of the cradle head rotation is 360 degrees, so that the flight controller can determine that the action tasks conflict, generate a third detection result and send the third detection result to the ground control end. The third detection result may include a field for indicating a success of the detection or a failure of the detection, and if the detection fails, the third detection result may further include a failure reason and an action task causing the failure of the detection.

In an embodiment, before the task management device updates the work subtasks to be executed to the storage device of the flight controller of the unmanned aerial vehicle, it may be determined whether the available storage space of the storage device is greater than or equal to the data size of the work subtasks to be executed, and when the available storage space of the storage device is smaller than the data size of the work subtasks to be executed, the task management device may send a prompt message to the ground control end, where the prompt message is used to prompt that the available storage space of the storage device is smaller than the data size of the work subtasks to be executed, so that the user updates the work tasks through the ground control end. For example, the storage device may store only 50 action tasks at a time, and the work subtasks to be executed include 51 action tasks, and the task management apparatus may determine that the available storage space of the storage device is smaller than the data size of the work subtasks to be executed, and then generate the prompt information.

In the embodiment of the invention, the task management equipment divides the work task into a plurality of work subtasks, determines one work subtask to be executed from the plurality of work subtasks in the process that the unmanned aerial vehicle flies on the flight route, and updates the work subtask to be executed into the storage device of the flight controller of the unmanned aerial vehicle, so that the flight controller controls the load to execute the action task when the unmanned aerial vehicle reaches the task position point corresponding to the action task included in the work subtasks to be executed. Through this kind of mode, unmanned aerial vehicle can satisfy the action task quantity continuously growing application scene of load, simultaneously, and convenience of customers once only types the action task of great quantity of load, can not receive flight controller's storage device's storage capacity's restriction, has improved the execution efficiency of the action task of load.

Referring to fig. 3, for a task management device provided in an embodiment of the present invention, the task management device shown in fig. 3 may include: a memory 301 and a processor 302, wherein the memory 301 and the processor 302 are connected by a bus 303, the program code is stored in the memory 301, and the program code in the memory is called by the processor 302.

The memory 301 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 301 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), etc.; the memory 301 may also comprise a combination of the above types of memory.

The processor 302 may be a Central Processing Unit (CPU). The processor 302 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a General Array Logic (GAL), or the like. The processor 302 may also be a combination of the above structures.

In the embodiment of the present invention, the memory 301 is configured to store a computer program, the computer program includes program instructions, and the processor 302 is configured to execute the program instructions stored in the memory 301, so as to implement the steps of the corresponding method in the embodiment shown in fig. 3:

when the program code is executed, the processor 302 performs the following:

In one embodiment, the processor 302, when splitting the work task into a plurality of work subtasks, performs the following operations:

splitting the work task into a plurality of work subtasks, so that the number of task position points corresponding to the action task included in each of the plurality of work subtasks is smaller than or equal to a first preset number threshold.

In an embodiment, each of the action tasks corresponds to one execution time information, and the processor 302, when splitting the work task into a plurality of work subtasks, performs the following operations:

grouping the action tasks included in the work task according to the execution time information corresponding to the action tasks to obtain a plurality of action task groups;

and determining each action task group in the plurality of work task groups as a work subtask.

In one embodiment, a difference value between execution time information corresponding to each action task included in each of the work subtasks is smaller than a preset time threshold.

In one embodiment, the processor 302 further performs the following operations:

determining whether a preset updating condition is met;

the processor determines a work subtask to be executed from the plurality of work subtasks, and executes the following operations when updating the work subtask to be executed into a storage device of a flight controller of the unmanned aerial vehicle:

and when the preset updating condition is met, determining a work subtask to be executed from the plurality of work subtasks, and updating the work subtask to be executed to a storage device of a flight controller of the unmanned aerial vehicle.

In one embodiment, the processor 302 determines whether a preset update condition is satisfied, and performs the following operations:

acquiring available storage space indication information of a storage device in the flight controller or execution state information of the flight controller on a previously updated work subtask;

and determining whether the preset updating condition is met or not according to the available storage space indication information or the execution state information.

In an embodiment, when the processor 302 determines whether the preset update condition is satisfied according to the available storage space indication information or the execution state information, the following operations are performed:

and when the available storage space of the storage device is determined to be larger than or equal to the data volume of the work subtask to be executed according to the storage space indication information, or when the previously updated work subtask is determined to be completed to be executed according to the execution state information, determining that the preset updating condition is met.

In one embodiment, when the processor 302 splits the work task into a plurality of work subtasks, the following operations are performed:

and when a preset splitting condition is met, splitting the work task into a plurality of work subtasks.

In one embodiment, when the preset splitting condition is satisfied, the processor 302 performs the following operations when splitting the work task into a plurality of work subtasks:

when the number of the plurality of task position points is larger than or equal to a second preset number threshold, or the data volume of the work task is larger than or equal to a preset data volume threshold, determining that the preset splitting condition is met;

splitting the work task into a plurality of work subtasks.

In one embodiment, the processor 302 further performs the following operations:

and sending deletion request information to the flight controller, wherein the deletion request information is used for requesting the flight controller to delete the action tasks stored in the storage device, which are already executed, or the action tasks which are not executed within a preset time.

In one embodiment, the mission location point is determined from a waypoint in the flight path.

In one embodiment, the mission location point is a waypoint in the flight path.

In one embodiment, the processor 302 further performs the following operations:

and when the flight state parameters of the unmanned aerial vehicle meet the preset flight state conditions, determining that the unmanned aerial vehicle reaches the task position point.

In one embodiment, the flight status parameters include one or more of a flight speed of the drone, a flight acceleration of the drone, an attitude of a load of the drone.

In one embodiment, the processor 302 further performs the following operations:

and when the second flight state parameter of the unmanned aerial vehicle meets a second preset flight state condition, determining that the unmanned aerial vehicle reaches the task position point, wherein the second flight state parameter is different from the flight state parameter.

In one embodiment, the task management device is disposed on the unmanned aerial vehicle or a ground control end communicatively connected with the unmanned aerial vehicle.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A task management method of a load of an unmanned aerial vehicle is applied to task management equipment of the load, and is characterized by comprising the following steps:

2. The method of claim 1, wherein the splitting the work task into a plurality of work subtasks comprises:

3. The method of claim 1, wherein each of the action tasks corresponds to execution time information, and wherein splitting the work task into a plurality of work subtasks comprises:

4. The method according to claim 3, wherein a difference between the execution time information corresponding to the respective action tasks included in each of the work subtasks is smaller than a preset time threshold.

5. The method according to any one of claims 1-4, further comprising:

determining whether a preset updating condition is met;

the determining a work subtask to be executed from the plurality of work subtasks and updating the work subtask to be executed to a storage device of a flight controller of the drone includes:

6. The method of claim 5, wherein the determining whether the preset update condition is satisfied comprises:

7. The method according to claim 6, wherein the determining whether the preset update condition is satisfied according to the available storage space indication information or the execution status information comprises:

8. The method according to any one of claims 1-7, wherein the splitting the work task into a plurality of work subtasks comprises:

9. The method according to claim 8, wherein the splitting the work task into a plurality of work subtasks when a preset splitting condition is satisfied comprises:

splitting the work task into a plurality of work subtasks.

10. The method according to any one of claims 1-9, further comprising:

11. A method according to any one of claims 1 to 10, wherein the mission location point is determined from a waypoint in the flight path.

12. The method of claim 11, wherein the mission location point is a waypoint in the flight path.

13. The method of any of claims 1-10, wherein the drone reaches the mission location point when the flight status parameters of the drone meet a preset flight status condition.

14. The method of claim 13, wherein the flight status parameters include one or more of a flight speed of the drone, a flight acceleration of the drone, an attitude of a load of the drone.

15. The method of any of claims 1-14, wherein the mission management device is located on the drone or a ground control end communicatively coupled to the drone.

16. A task management device, comprising a memory and a processor:

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

17. The task management device according to claim 16, wherein the processor, when splitting the work task into a plurality of work subtasks, performs the following:

18. The task management device according to claim 16, wherein each of the action tasks corresponds to one piece of execution time information, and the processor performs the following operations when splitting the work task into a plurality of work subtasks:

19. The device according to claim 18, wherein a difference between the execution time information corresponding to each of the action tasks included in each of the work subtasks is smaller than a preset time threshold.

20. A task management device according to any of claims 16-19, wherein the processor further performs the following:

determining whether a preset updating condition is met;

21. The task management device according to claim 20, wherein the processor determines whether a preset update condition is satisfied, and performs the following operations:

22. The task management device according to claim 21, wherein the processor determines whether the preset update condition is satisfied according to the available storage space indication information or the execution state information, and performs the following operations:

23. The task management device according to any one of claims 16 to 22, wherein the processor performs the following operations when splitting the work task into a plurality of work subtasks:

24. The task management device according to claim 23, wherein the processor performs the following operations when splitting the work task into a plurality of work subtasks when a preset splitting condition is satisfied:

splitting the work task into a plurality of work subtasks.

25. A task management device according to any of claims 16-24, wherein the processor further performs the following:

26. A task management device according to any of claims 16 to 25, wherein the task location point is determined from a waypoint in the flight path.

27. The task management device of claim 26, wherein the task location point is a waypoint in the flight path.

28. The mission management apparatus of any one of claims 16 to 25, wherein the drone reaches the mission location point when the flight status parameters of the drone meet a preset flight status condition.

29. The task management device of claim 28, wherein the flight status parameters include one or more of a flight speed of the drone, a flight acceleration of the drone, an attitude of a load of the drone.

30. A task management device according to any of claims 16-29, wherein the task management device is provided on the drone or a ground control terminal communicatively connected to the drone.

31. A computer-readable storage medium, characterized in that it stores a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out a method of task management of a load of a drone according to any one of claims 1 to 15.