CN111367266A - Unmanned equipment route adjusting method and device and unmanned equipment system - Google Patents
Unmanned equipment route adjusting method and device and unmanned equipment system Download PDFInfo
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Abstract
The application discloses a method and a device for adjusting a route of unmanned equipment and an unmanned equipment system, wherein the method comprises the following steps: receiving station geographical position information reported by each station; updating the stored station geographical position information of the corresponding station according to the reported station geographical position information; when the geographical position information of the target station is updated to meet the route adjustment condition, the route of the target unmanned equipment is adjusted to obtain an adjusted route; and issuing the adjusted air route to the target unmanned equipment. According to the scheme, the route is updated in real time through the geographical position information of the navigation station reported by the navigation station, so that the controllability, reliability and safety of the unmanned driving process are improved; the unmanned aerial vehicle can be seamlessly butted to the mobile station, so that the unmanned aerial vehicle can accurately land or stop on the mobile station; and can be applied to various unmanned equipment, including unmanned aerial vehicles or various application scenes such as unmanned vehicle distribution.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a method and a device for adjusting a route of an unmanned device, an unmanned device system, a cloud server and a readable storage medium.
Background
With the development of industries such as autopilot, unmanned aerial vehicle, and robot, the distribution of goods using unmanned equipment such as unmanned aerial vehicle is becoming widespread in the near future. Taking an unmanned aerial vehicle as an example, in the process of using the unmanned aerial vehicle to deliver, the unmanned aerial vehicle executes a delivery task according to a scheduling route transmitted by a cloud, wherein the route generally only comprises two waypoint data of a flying point airport and a landing point airport, and the unmanned aerial vehicle lands after arriving above the landing point airport.
However, the unmanned aerial vehicle executes the air route based on the real-time position information provided by the GPS, and the GPS position information may have certain drift at the same place and different times, so that the latitude and longitude of the departure point airport and the landing point airport acquired by the unmanned aerial vehicle may be different at different times, while the existing airport position information is generally fixed after manual acquisition, if the cloud sends an air route with a fixed airport position, the unmanned aerial vehicle may not fly to the upper air of the target airport, thereby causing delivery failure; when the airport is a mobile airport, if the original fixed air route is still adopted, the whole distribution process cannot be finished; and due to the limitation of objective conditions, the unmanned aerial vehicle delivery route has to bypass some limited areas such as gas stations, and the like, which requires that the route provided for the unmanned aerial vehicle has to be accurate in time.
Content of application
In view of the above, the present application is made to provide an unmanned aerial vehicle route adjustment method, apparatus, unmanned aerial vehicle system, cloud server, and readable storage medium that overcome or at least partially address the above-mentioned problems.
According to one aspect of the application, a method for adjusting a course of an unmanned aerial vehicle is provided, which comprises the following steps:
receiving station geographical position information reported by each station;
updating the stored station geographical position information of the corresponding station according to the reported station geographical position information;
when the geographical position information of the target station is updated to meet the route adjustment condition, the route of the target unmanned equipment is adjusted to obtain an adjusted route;
and issuing the adjusted air route to the target unmanned equipment.
Optionally, the station geographical position information is determined according to an output value of a single geographical position detection module or an average value of output values of a plurality of geographical position detection modules in the station;
the receiving the station geographical position information reported by each station comprises:
and receiving the geographical position information of the stations reported by the stations according to a preset period.
Optionally, the terminal comprises any one or more of the following: the unmanned aerial vehicle airport, instruct no flying area website, unmanned vehicle stop website, unmanned ship stop website, instruct the barrier website.
Optionally, the airline is determined according to the unmanned equipment task, and includes starting-point airport geographical position information and ending airport geographical position information, and if the airline passes through a no-fly area or an obstacle, the airline further includes geographical position information indicating a no-fly area site or geographical position information indicating an obstacle site;
the lane adjustment condition includes: the deviation amount of the geographical position information of the navigation station before and after updating is larger than a preset threshold value, and the unmanned equipment cannot find the visual guidance beacon by using the camera or the deviation amount of the target geographical position information of the target unmanned equipment and the geographical position information of the navigation station after updating is larger than the preset threshold value.
Optionally, when the station geographical location information of the target station is updated to meet the route adjustment condition, adjusting the route of the target unmanned device includes:
and screening the air route to pass through the target station from the unfinished air routes as the air route to be adjusted, and determining the target unmanned equipment corresponding to the air route to be adjusted.
Optionally, the method further comprises:
and receiving the geographical position information of the unmanned equipment reported by the unmanned equipment, and updating the route completion state of the corresponding route according to the geographical position information of the unmanned equipment.
According to another aspect of the present application, there is provided an unmanned aerial vehicle course adjustment apparatus including:
the receiving unit is suitable for receiving the station geographical position information reported by each station;
the updating unit is suitable for updating the stored station geographical position information of the corresponding station according to the reported station geographical position information;
the adjusting unit is suitable for adjusting the air route of the target unmanned equipment when the geographical position information of the target air station meets the air route adjusting condition to obtain an adjusted air route;
and the issuing unit is suitable for issuing the adjusted air route to the target unmanned equipment.
According to another aspect of the application, a pilotless equipment system is provided, which comprises pilotless equipment provided with a geographic position detection module and a wireless network module, a navigation station provided with a geographic position detection module and a wireless network module, and a cloud server, wherein the navigation station comprises a fixed navigation station or a mobile navigation station;
each navigation station sends the navigation station geographical position information collected by the geographical position detection module to the cloud server through the wireless network module;
the cloud server receives the station geographical position information reported by each station, updates the stored station geographical position information of the corresponding station according to the reported station geographical position information, adjusts the route of the target unmanned equipment when the station geographical position information of the target station meets the route adjustment condition to obtain an adjusted route, and sends the adjusted route to the target unmanned equipment;
and the target unmanned equipment receives the adjusted air route and executes an air route task according to the adjusted air route.
According to another aspect of the present application, there is provided a cloud server, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a lane adjustment method as any one of the above.
According to yet another aspect of the present application, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the lane adjustment method as in any one of the above.
From the above, the method for adjusting the route of the unmanned aerial vehicle disclosed by the application comprises the following steps: receiving station geographical position information reported by each station; updating the stored station geographical position information of the corresponding station according to the reported station geographical position information; when the geographical position information of the target station is updated to meet the route adjustment condition, the route of the target unmanned equipment is adjusted to obtain an adjusted route; and issuing the adjusted air route to the target unmanned equipment. According to the scheme, the route of the unmanned equipment is dynamically adjusted or corrected in real time through the geographical position information of the navigation station reported by the navigation station, so that the unmanned equipment can be ensured to correctly fly or drive to a target navigation station according to the route, and the controllability, reliability and safety of the unmanned process are improved; the scheme can also be seamlessly butted to the mobile navigation station, so that the unmanned equipment can accurately land on the mobile navigation station; and the scheme can be applied to various unmanned equipment, including various application scenes such as unmanned aerial vehicle distribution or unmanned vehicle distribution.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows a schematic flow diagram of a method for unmanned aerial vehicle lane adjustment according to one embodiment of the present application;
FIG. 2 illustrates a schematic structural diagram of an unmanned aerial vehicle course adjustment apparatus, according to one embodiment of the present application;
fig. 3 is a schematic structural diagram illustrating a cloud server according to an embodiment of the present application;
FIG. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application
FIG. 5 illustrates an information flow diagram for dynamic adjustment of a drone airline in accordance with one embodiment of the present application;
FIG. 6 illustrates a timing diagram for dynamic adjustment of a drone flight path according to one embodiment of the present application;
FIG. 7 shows a schematic structural diagram of an unmanned device system according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The unmanned device airline dispatch is typically implemented by a supervisory dispatch system, which may be located on a cloud server or a local server. The supervision and dispatching system plans the air route or selects the existing air route by receiving tasks such as cargo distribution and the like, generates an executable air route instruction according to the stored geographical position information of each air station and sends the executable air route instruction to the unmanned equipment executing the air route, so that the unmanned equipment completes the tasks such as the cargo distribution and the like according to the sent air route. The embodiment of the application provides a method capable of dynamically adjusting a route in real time, so that the problem caused by GPS signal drift and the like of unmanned equipment in the execution of the existing route is solved.
FIG. 1 shows a schematic flow diagram of a method for unmanned aerial vehicle lane adjustment according to one embodiment of the present application; the method comprises the following steps:
and step S110, receiving the station geographical position information reported by each station.
In order to obtain real-time geographical position information of each station, a geographical position detection device can be installed in each station. The supervision and scheduling system can receive the geographical position information reported by the geographical position detection module in each station according to a preset period or a fixed time point, for example, the geographical position information of the station is reported every few seconds, and the reporting mode can be realized through a wireless network module of a 4G or 5G network.
And step S120, updating the stored station geographical position information of the corresponding station according to the reported station geographical position information.
According to the step, the reported station geographical position information can be stored in a database connected with the supervision and scheduling system, and the existing stored information can be updated every time the reported station geographical position information is received.
Of course, the receiving and updating of the station geographical location information may be performed only at the station with mission planning, and the updating duration may be the whole mission duration, or the updating of the station geographical location information may be started when the unmanned device is detected to be close, so as to reduce resource occupation.
And step S130, when the geographical position information of the station of the target station is updated to meet the route adjustment condition, adjusting the route of the target unmanned equipment to obtain the adjusted route.
The target station and the target unmanned equipment refer to a station and unmanned equipment related to a flight line about to or executing a task, generally, only the flight line about to or executing the task is adjusted, whether the flight line needs to be adjusted or not is judged, whether geographical position information of the station related to the flight line meets a flight line adjustment condition or not is judged, and for example, when the geographical position information of the original station in the flight line is compared with the geographical position information of the reported station in real time, the deviation is large, so that the unmanned equipment cannot accurately land or even cannot land, the adjustment of the flight line is executed.
Step S140, the adjusted route is issued to the target unmanned device, so that the target unmanned device executes tasks such as delivery according to the adjusted route.
In the embodiment, the geographical position information of each station in the supervision and scheduling system is continuously reported and updated by using each station, the supervision and scheduling system judges the course adjusting condition of the target station in the target course by using the geographical position information of the station, and the target course is adjusted if the course adjusting condition is met, so that the real-time dynamic adjustment of the course is realized.
The unmanned device can detect the geographic position information of the unmanned device, and carries out path planning according to the air route issued by the cloud server, so that the more accurate the address position of the air station in the air route, the more controllable, reliable and safe the flight or driving process of the unmanned device, therefore, the technical scheme of the application can be used for solving the problem of accurate landing or stopping of the unmanned device, and is suitable for air route planning and correction in application scenes of other types of unmanned devices such as unmanned vehicles and the like.
Referring to fig. 5 and 6, taking the unmanned airplane flight path adjustment of an airport a as a starting station and an airport B as a destination station as an example, fig. 5 shows an information flow diagram in the unmanned airplane flight path dynamic adjustment; fig. 6 shows a timing diagram for the dynamic adjustment of the drone flight path. The navigation system comprises a navigation system, a navigation system and a navigation system, wherein the navigation system comprises a navigation system, a navigation system and a navigation system, the navigation system comprises a navigation system, a navigation system and a navigation system, the navigation system comprises a control unit, the control unit comprises a control unit.
In order to realize dynamic adjustment of a flight path, firstly, a geographic position detection module such as a GPS (global positioning system) above a take-off airport A and a target landing airport B acquires position information such as longitude and latitude in real time and periodically reports the position information to a supervision and scheduling system of a cloud; the cloud scheduling system updates a background station geographic position database in real time after receiving the geographic position information reported by the airport A and the airport B; planning or selecting the air route according to task requirements such as delivery, in the flight control process of the air route executed by the unmanned equipment, continuously sending position information acquired by the geographic position detection module to the cloud end by the airport A and the airport B, comparing the position information with the air route waypoint position executed by the unmanned aerial vehicle after the supervision and scheduling system receives the geographic position information reported by the airport, updating the waypoint position of the air route in time if the waypoint position deviation is found to be large (influencing the unmanned aerial vehicle to accurately land), obtaining the adjusted air route, and issuing the updated waypoint position to the unmanned equipment.
In one embodiment, the station geographical position information is determined according to the output value of a single geographical position detection module or the average value of the output values of a plurality of geographical position detection modules in the station.
In this embodiment, the geographical position information of the terminal is acquired according to the geographical position detection module, which may be a GPS module in the united states, a beidou satellite navigation module in china, a galileo satellite navigation module in europe, or a glonass satellite navigation module in russia.
Preferably, in order to improve the reliability of the station geographical location information, a plurality of geographical location detection modules may be installed on the station, and then the geographical location data reported each time is an average value of output values of the plurality of geographical location detection modules.
Moreover, a geographic position detection module is usually also arranged on the unmanned equipment to determine the geographic position of the unmanned equipment and plan a path according to the geographic position. Taking a landing scene as an example, the unmanned aerial vehicle needs to firstly ensure that the unmanned aerial vehicle reaches the vicinity of the terminal station, namely, the geographic position detected on the unmanned aerial vehicle is consistent with the geographic position detected by the terminal station, therefore, the geographic position detection module installed on the station is preferably consistent with the geographic position detection module on the unmanned aerial vehicle in manufacturer or even model batch, so that the detection errors of the unmanned aerial vehicle and the station are reduced, and data identification or integration is facilitated.
Further, step S110 includes: and receiving the geographical position information of the stations reported by the stations according to a preset period.
Preferably, the station geographical position information can be reported every 1 second or several seconds, so that the requirement of updating the station geographical position information is met.
In one embodiment, the terminal comprises any one or more of the following: the unmanned aerial vehicle airport, instruct no flying area website, unmanned vehicle stop website, unmanned ship stop website, instruct the barrier website.
The station concept in this embodiment includes not only an airport where an unmanned aerial vehicle takes off or lands, an unmanned vehicle docking station, an unmanned ship docking station, but also a station indicating a no-fly area and a station indicating an obstacle. According to relevant regulations and safety considerations, no-fly areas such as gas stations and the like, particularly two gas stations are distributed on the left side and the right side of an air route, and accurate geographical position information of the air station needs to be determined, so that an unmanned aerial vehicle can safely pass through the middle of the two gas stations; the obstacles may be land, sea and air objects which need to be avoided by the unmanned equipment, such as trees in the middle of roads, super-high buildings, torrential current dangerous beaches and the like, and thus bypass the area when planning a flight line and pass through the area at a safe distance from the edge of the area, which requires accurate information of the station.
In implementation, 3-5 GPS modules can be arranged around a no-fly area or an obstacle, and geographical position information of the station is reported in time, so that unmanned equipment can accurately avoid when passing.
In one embodiment, the airline is determined according to a task executed by the unmanned device, and comprises starting station geographical position information and ending station geographical position information, and if the airline passes through a no-fly area or an obstacle, the airline further comprises geographical position information indicating a station of the no-fly area or geographical position information indicating a station of the obstacle.
The lane adjustment condition includes: the deviation amount of the geographical position information of the navigation station before and after updating is larger than a preset threshold value, and the unmanned equipment cannot find the visual guidance beacon by using the camera or the deviation amount of the target geographical position information of the target unmanned equipment and the geographical position information of the navigation station after updating is larger than the preset threshold value.
After receiving the station geographical position information reported by each station, comparing the station geographical position information with station geographical position information in the flight path executed by the unmanned equipment, and if the station geographical position deviation is judged to be larger than a preset threshold value enough to influence the unmanned equipment to implement accurate landing, updating the station geographical position information of the flight path in time.
For example, when the unmanned aerial vehicle is an unmanned aerial vehicle, in order to accurately land the unmanned aerial vehicle, a visual guidance beacon may be installed on the terminal station, and a camera corresponding to the visual guidance beacon is installed on the unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to land on the ground of the terminal station according to a detection result of the camera. If the unmanned aerial vehicle cannot find the visual guidance beacon on the station by using the camera at the moment, or the deviation amount between the target geographical position information such as the destination station on the air route received by the unmanned aerial vehicle and the updated station geographical position information is larger than the preset threshold value, it indicates that the air route adjustment condition is met, and the cloud server is required to perform adjustment on the corresponding air route.
In one embodiment, the step S130 includes: and screening the air route to pass through the target station from the unfinished air routes as the air route to be adjusted, and determining the target unmanned equipment corresponding to the air route to be adjusted.
When the method is implemented, the geographical position information of the station reported by a starting station, an intermediate station or a station and an end station on the flight line is periodically obtained, particularly, whether the geographical position information of the target station on the target flight line meets the flight line adjusting condition or not is continuously judged for the target flight line of the started unmanned equipment, and if the geographical position information meets the adjusting condition, the updated data of the station is sent to the unmanned equipment, so that the reliability and the safety of the target flight line are guaranteed.
In this embodiment, the station meeting the adjustment condition may be used as a base point to determine a target route to be adjusted, for example, if the geographical position deviation of a certain station is large and meets the adjustment condition, all routes passing through the station are target routes that need to be adjusted. For example, at present, there are three incomplete routes ABC, where a route a includes a station a, a station B, and a station C, a route B includes a station B, a station d, and a station e, and a route C includes a station B, a station f, and if the station B meets the adjustment condition, the unmanned devices of the three routes need to be notified, and if the station C meets the adjustment condition, the route a only needs to be notified.
The incomplete routes comprise routes to be executed in planning and routes which have started and do not reach a terminal station, and one route corresponds to unmanned equipment with a certain code.
And issuing the adjusted air route to corresponding target unmanned equipment, and enabling each target unmanned equipment to execute tasks such as distribution and the like according to the adjusted air route.
In one embodiment, the method further comprises: and receiving the geographical position information of the unmanned equipment reported by the unmanned equipment, and updating the route completion state of the corresponding route according to the geographical position information of the unmanned equipment.
And receiving the geographical position information reported by the unmanned equipment through a wireless network module according to the geographical position detection module of the unmanned equipment after the unmanned equipment arrives at the air station of the terminal station, and if the reported geographical position information is consistent with the geographical position information of each station in the route, indicating that the unmanned equipment better realizes the route task and continuously updating the route completion state.
FIG. 2 illustrates a schematic structural diagram of an unmanned aerial vehicle course adjustment apparatus 200, according to one embodiment of the present application; the device comprises:
the receiving unit 210 is adapted to receive the station geographical location information reported by each station.
In order to obtain the real-time geographical position information of each station, a geographical position information acquisition device, such as a GPS module, can be arranged in each station. The supervision and scheduling system can receive the geographical position information of the stations reported by the GPS module in each station according to a preset period or a fixed time point, for example, the geographical position information of the stations is reported every few seconds, and the reporting mode can be a wireless network module of a 4G or 5G network.
The updating unit 220 is adapted to update the stored station geographical location information of the corresponding station according to the reported station geographical location information.
According to the unit, the reported station geographical position information can be stored in a database connected with the supervision and scheduling system, and the existing stored information can be updated each time the reported station geographical position information is received.
Of course, the receiving and updating of the station geographical location information may also be performed only at the station with mission planning, and the duration of the updating may be the whole mission period or a part of the mission period, thereby reducing the resource occupation.
And the adjusting unit 230 is adapted to adjust the route of the target unmanned device to obtain an adjusted route when the geographical position information of the station of the target station is updated to meet the route adjustment condition.
The target station and the target unmanned equipment refer to a station and unmanned equipment related to a flight line about to or executing a task, generally, only the flight line about to or executing the task is adjusted, whether the flight line needs to be adjusted or not is judged, whether geographical position information of the station related to the flight line meets a flight line adjustment condition or not is judged, and for example, when the geographical position information of the original station in the flight line is compared with the geographical position information of the reported station in real time, the deviation is large, so that the unmanned equipment cannot accurately land or even cannot land, the adjustment of the flight line is executed.
And the issuing unit 240 is adapted to issue the adjusted route to the target unmanned device, so that the target unmanned device executes tasks such as distribution according to the adjusted route.
In the embodiment, the geographical position information of each station in the supervision and scheduling system is continuously reported and updated by using each station, the supervision and scheduling system judges the course adjusting condition of the target station in the target course by using the geographical position information of the station, and the target course is adjusted if the course adjusting condition is met, so that the real-time dynamic adjustment of the course is realized.
The unmanned device can detect the geographic position information of the unmanned device, and carries out path planning according to the air route issued by the cloud server, so that the more accurate the address position of the air station in the air route, the more controllable, reliable and safe the unmanned device flies or runs.
In one embodiment, the station geographical position information is determined according to the output value of a single geographical position detection module or the average value of the output values of a plurality of geographical position detection modules in the station.
In this embodiment, the geographical position information of the terminal is acquired according to the geographical position detection module, which may be a GPS module in the united states, a beidou satellite navigation module in china, a galileo satellite navigation module in europe, or a glonass satellite navigation module in russia.
Preferably, in order to improve the reliability of the station geographical location information, a plurality of geographical location detection modules may be installed on the station, and then the geographical location data reported each time is an average value of output values of the plurality of geographical location detection modules.
Moreover, a geographic position detection module is usually also arranged on the unmanned equipment to determine the geographic position of the unmanned equipment and plan a path according to the geographic position. Taking a landing scene as an example, the unmanned aerial vehicle needs to firstly ensure that the unmanned aerial vehicle reaches the vicinity of the terminal station, namely, the geographic position detected on the unmanned aerial vehicle is consistent with the geographic position detected by the terminal station, therefore, the geographic position detection module installed on the station is preferably consistent with the geographic position detection module on the unmanned aerial vehicle in manufacturer or even model batch, so that the detection errors of the unmanned aerial vehicle and the station are reduced, and data identification or integration is facilitated.
And, the receiving unit 210 is adapted to: and receiving the geographical position information of the stations reported by the stations according to a preset period.
Preferably, the geographical location information of the terminal can be reported every 1 second or several seconds, so that the requirement of updating the geographical location information of the terminal is met.
In one embodiment, the terminal comprises any one or more of the following: the unmanned aerial vehicle airport, instruct no flying area website, unmanned vehicle stop website, unmanned ship stop website, instruct the barrier website.
The station concept in this embodiment includes not only an airport where an unmanned aerial vehicle takes off or lands, an unmanned vehicle docking station, an unmanned ship docking station, but also a station indicating a no-fly area and a station indicating an obstacle. According to relevant regulations and safety considerations, no-fly areas such as gas stations and the like, particularly two gas stations distributed on the left side and the right side, need to determine accurate geographical location information of the stations, so that the unmanned aerial vehicle can safely pass through the middle of the two gas stations; the obstacles may be land, sea and air objects which need to be avoided by the unmanned equipment, such as trees in the middle of roads, super-high buildings, torrential current dangerous beaches and the like, and thus bypass the area when planning a flight line and pass through the area at a safe distance from the edge of the area, which requires accurate information of the station.
In one embodiment, the airline is determined according to the unmanned equipment mission and comprises starting station geographical position information and ending station geographical position information, and if the airline passes through a no-fly area or an obstacle, the airline further comprises geographical position information indicating a no-fly area station or geographical position information indicating an obstacle station.
The lane adjustment condition includes: the deviation amount of the geographical position information of the navigation station before and after updating is larger than a preset threshold value, and the unmanned equipment cannot find the visual guidance beacon by using the camera or the deviation amount of the target geographical position information of the target unmanned equipment and the geographical position information of the navigation station after updating is larger than the preset threshold value.
And after receiving the station geographical position information reported by each station, comparing the station geographical position information with station geographical position information in the flight path executed by the unmanned equipment, and if the station geographical position deviation is larger than a preset threshold value enough to influence the unmanned equipment to implement accurate landing, updating the station geographical position information of the flight path in time.
The starting station, the intermediate station and the terminal station are determined on the flight path, the geographical position information of each station is periodically acquired, particularly whether the information of the station on each flight path meets the flight path adjusting condition is continuously judged after the unmanned equipment is started, and if the information meets the adjusting condition, the updated data of the station is sent to the unmanned equipment, so that the reliability and the safety of the target flight path are guaranteed.
In one embodiment, the adjusting unit 230 is adapted to: and screening the air route to pass through the target station from the unfinished air routes as the air route to be adjusted, and determining the target unmanned equipment corresponding to the air route to be adjusted.
In this embodiment, the station meeting the adjustment condition may be used as a base point to determine a target route to be adjusted, for example, if the geographical position deviation of a certain station is large and meets the adjustment condition, all routes passing through the station are target routes that need to be adjusted. For example, at present, there are three incomplete routes ABC, where a route a includes a station a, a station B, and a station C, a route B includes a station B, a station d, and a station e, and a route C includes a station B, a station f, and if the station B meets the adjustment condition, the unmanned devices of the three routes need to be notified, and if the station C meets the adjustment condition, the route a only needs to be notified.
The incomplete routes comprise a route to be executed in planning and a route which has taken off and does not reach a terminal station, and generally one route corresponds to unmanned equipment with a certain code.
In one embodiment, the device further comprises a route state updating unit, which is adapted to receive the geographical position information of the unmanned equipment reported by the unmanned equipment and update the route completion state of the corresponding route according to the geographical position information of the unmanned equipment.
And after the unmanned equipment arrives at the air above the airport of the terminal station, receiving the geographical position information reported by the unmanned equipment through the wireless network module according to the GPS module of the unmanned equipment, if the reported geographical position information is consistent with the geographical position information of each station in the route, indicating that the unmanned equipment well completes the execution task of the route, and continuously updating the route completion state of the corresponding route.
FIG. 7 shows a schematic structural diagram of an unmanned device system according to an embodiment of the present application; unmanned aerial vehicle equipment system is including unmanned aerial vehicle equipment 510 that is provided with geographical position detection module and wireless network module, station 520 and high in the clouds server 530 that is provided with geographical position detection module and wireless network module, just station 520 includes fixed station or portable station.
Each station 520 sends the station geographical position information collected by the geographical position detection module to the cloud server 530 through the wireless network module;
the cloud server 530 receives the station geographical position information reported by each station 520, updates the stored station geographical position information of the corresponding station according to the reported station geographical position information, judges a course adjustment condition, adjusts a course of the target unmanned device 510 when the station geographical position information of the target station meets the course adjustment condition to obtain an adjusted course, and then sends the adjusted course to the target unmanned device 510;
the target drone 510 receives the adjusted flight path and performs flight path tasks according to the adjusted flight path.
The geographic position detection module in the unmanned equipment system disclosed by the embodiment is preferably a GPS module, and the wireless network module can be a 4G network or a 5G network, so that the geographic position information of each navigation station and the unmanned equipment can be periodically and continuously uploaded to the cloud server, the geographic position information can be updated in real time, and dynamic adjustment of the route is facilitated.
In addition, the navigation station 520 not only is a fixed navigation station and a mobile navigation station, but also can report the geographical position information of the navigation station to a cloud server in real time by arranging geographical position detection modules such as a GPS (global positioning system) and the like on the mobile navigation station, so that the unmanned equipment can be accurately positioned to the mobile navigation station.
Further, when unmanned aerial vehicle equipment is unmanned aerial vehicle, this unmanned aerial vehicle arrives terminal station overhead back, and the visual guide beacon according to camera on the unmanned aerial vehicle and terminal station carries out the descending.
To sum up, the method for adjusting the route of the unmanned aerial vehicle disclosed by the embodiment of the application comprises the following steps: receiving station geographical position information reported by each station; updating the stored station geographical position information of the corresponding station according to the reported station geographical position information; when the geographical position information of the target station is updated to meet the route adjustment condition, the route of the target unmanned equipment is adjusted to obtain an adjusted route; and issuing the adjusted air route to the target unmanned equipment. According to the scheme, the route of the unmanned equipment is dynamically adjusted or corrected in real time through the geographical position information of the navigation station reported by the navigation station, so that the unmanned equipment can be ensured to correctly fly or drive to a target navigation station according to the route, and the controllability, reliability and safety of the unmanned process are improved; the scheme can also be seamlessly butted to the mobile navigation station, so that the unmanned equipment can accurately land or stop on the mobile navigation station; the scheme can be applied to various unmanned equipment, and comprises various application scenes such as unmanned equipment distribution or unmanned vehicle distribution.
It should be noted that:
"unmanned devices" as provided herein include devices that travel on the ground (e.g., cars, trucks, buses, etc.), but may also include devices that travel in the air (e.g., drones, airplanes, helicopters, etc.), devices that travel on water (e.g., boats, submarines, etc.). Further, one or more "devices" in the present application may or may not accommodate one or more passengers therein. The unmanned equipment can be applied to the fields of unmanned delivery such as express logistics or take-away meal delivery.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various application aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, application is directed to less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the drone route adjustment apparatus and drone system in accordance with embodiments of the present application. The present application may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 3 shows a schematic structural diagram of a cloud server according to an embodiment of the present application. The cloud server 300 comprises a processor 310 and a memory 320 arranged to store computer executable instructions (computer readable program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 320 has a storage space 330 storing computer readable program code 331 for performing any of the method steps described above. For example, the storage space 330 for storing the computer readable program code may comprise respective computer readable program codes 331 for respectively implementing various steps in the above method. The computer readable program code 331 may be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 4. FIG. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application. The computer readable storage medium 400 stores computer readable program code 331 for performing the steps of the method according to the present application, which is readable by the processor 310 of the cloud server 300, and when the computer readable program code 331 is executed by the cloud server 300, causes the cloud server 300 to perform the steps of the method described above, and in particular, the computer readable program code 331 stored by the computer readable storage medium may perform the method shown in any of the embodiments. The computer readable program code 331 may be compressed in a suitable form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. An unmanned aerial vehicle course adjustment method comprises the following steps:
receiving station geographical position information reported by each station;
updating the stored station geographical position information of the corresponding station according to the reported station geographical position information;
when the geographical position information of the target station is updated to meet the route adjustment condition, the route of the target unmanned equipment is adjusted to obtain an adjusted route;
and issuing the adjusted air route to the target unmanned equipment.
2. The airline adjustment method according to claim 1, wherein the station geographical position information is determined based on a single geographical position detection module output value or an average value of a plurality of geographical position detection module output values within a station;
the receiving the station geographical position information reported by each station comprises:
and receiving the geographical position information of the stations reported by the stations according to a preset period.
3. The course adjustment method of claim 1, wherein said stations include any one or more of: the unmanned aerial vehicle airport, instruct no flying area website, unmanned vehicle stop website, unmanned ship stop website, instruct the barrier website.
4. The airline adjustment method according to claim 3, wherein the airline is determined based on the drone mission and includes origin station geographical location information and destination station geographical location information, and if the airline passes through a no-fly zone or an obstacle, the airline further includes geographical location information indicating a no-fly zone site or geographical location information indicating an obstacle site;
the lane adjustment condition includes: the deviation amount of the geographical position information of the navigation station before and after updating is larger than a preset threshold value, and the unmanned equipment cannot find the visual guidance beacon by using the camera or the deviation amount of the target geographical position information of the target unmanned equipment and the geographical position information of the navigation station after updating is larger than the preset threshold value.
5. The airline adjustment method according to any one of claims 1 to 4, wherein the adjusting the airline of the target unmanned device when the station geographical location information update of the target station satisfies the airline adjustment condition comprises:
and screening the air route to pass through the target station from the unfinished air routes as the air route to be adjusted, and determining the target unmanned equipment corresponding to the air route to be adjusted.
6. The course adjustment method of claim 5, further comprising:
and receiving the geographical position information of the unmanned equipment reported by the unmanned equipment, and updating the route completion state of the corresponding route according to the geographical position information of the unmanned equipment.
7. An unmanned aerial device course adjustment apparatus comprising:
the receiving unit is suitable for receiving the station geographical position information reported by each station;
the updating unit is suitable for updating the stored station geographical position information of the corresponding station according to the reported station geographical position information;
the adjusting unit is suitable for adjusting the air route of the target unmanned equipment when the geographical position information of the target air station meets the air route adjusting condition to obtain an adjusted air route;
and the issuing unit is suitable for issuing the adjusted air route to the target unmanned equipment.
8. The unmanned equipment system is characterized by comprising unmanned equipment provided with a geographic position detection module and a wireless network module, a station provided with the geographic position detection module and the wireless network module and a cloud server, wherein the station comprises a fixed station or a movable station;
each navigation station sends the navigation station geographical position information collected by the geographical position detection module to the cloud server through the wireless network module;
the cloud server receives the station geographical position information reported by each station, updates the stored station geographical position information of the corresponding station according to the reported station geographical position information, adjusts the route of the target unmanned equipment when the station geographical position information of the target station meets the route adjustment condition to obtain an adjusted route, and sends the adjusted route to the target unmanned equipment;
and the target unmanned equipment receives the adjusted air route and executes an air route task according to the adjusted air route.
9. A cloud server, comprising: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the lane adjustment method of any of claims 1-6.
10. A computer-readable storage medium storing one or more programs which, when executed by a processor, implement the lane adjustment method of any one of claims 1-6.
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