CN112242072A - Unmanned aerial vehicle navigation method and system, unmanned aerial vehicle for navigation and number management platform - Google Patents
Unmanned aerial vehicle navigation method and system, unmanned aerial vehicle for navigation and number management platform Download PDFInfo
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- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention provides an unmanned aerial vehicle navigation method and system, a piloted unmanned aerial vehicle and a number management platform, wherein the method comprises the following steps: receiving a number forward notification sent by a number management platform, wherein the number forward notification carries a formal number; changing the preset informal number into a formal number according to the number correction notification; feeding back a message of successful correction to the number management platform, and simultaneously sending a local navigation notification to other members of the unmanned aerial vehicle navigation system; receiving a piloting task issued by an unmanned aerial vehicle management platform; and executing the issued pilot task to execute the issued pilot task. The method and the system, the piloting unmanned aerial vehicle and the number management platform can solve the problems that when the existing unmanned aerial vehicle group goes out to execute tasks, only one-to-one management can be realized, and the centralized management of the unmanned aerial vehicle group going out cannot be met.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle navigation method and system, a piloted unmanned aerial vehicle and a number management platform.
Background
The current unmanned aerial vehicle has widely been applied to demand scenes such as telemetering measurement, control, provides big coverage, the data service that does not shelter from, and along with using the extensive and diversified of scene, the demand scene of unmanned aerial vehicle group trip executive task also increases by a wide margin. However, the existing scheme mainly realizes one-to-one management of the unmanned aerial vehicles, and the management mechanism is mainly completed manually, is isolated, single and passive, and cannot meet the centralized management of the group trip of the unmanned aerial vehicles, thereby affecting the effectiveness and feasibility of the group task of the unmanned aerial vehicles.
Disclosure of Invention
The invention aims to solve the technical problem that in order to overcome the defects of the prior art, the invention provides the piloting method and system for the unmanned aerial vehicle, the piloting unmanned aerial vehicle and the number management platform, which are used for solving the problems that only one-to-one management can be realized and the centralized management of the outgoing of the unmanned aerial vehicle group cannot be met when the existing unmanned aerial vehicle group carries out tasks.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle navigation method, which is applied to a piloting unmanned aerial vehicle in an unmanned aerial vehicle piloting system, and includes:
receiving a number forward notification sent by a number management platform, wherein the number forward notification carries a formal number;
changing the preset informal number into a formal number according to the number correction notification;
feeding back a message of successful correction to the number management platform, and simultaneously sending a local navigation notification to other members of the unmanned aerial vehicle navigation system;
receiving a piloting task issued by an unmanned aerial vehicle management platform;
and executing the issued piloting task.
Preferably, before the step of receiving the number forwarding notification sent by the number management platform, the method further includes:
sending a navigation request to the number management platform through a special channel between the number management platform and the number management platform, wherein the navigation request carries a preset informal number;
receiving a number forwarding notification sent by a number management platform, comprising:
and receiving a number forwarding notice sent by the number management platform through a special channel.
Preferably, the receiving of the piloting task issued by the unmanned aerial vehicle management platform includes:
receiving a piloting task issued by an unmanned aerial vehicle piloting management platform through a common channel between the unmanned aerial vehicle piloting management platform and the unmanned aerial vehicle;
simultaneously with or before executing the issued pilot task, the method further comprises the following steps: sending navigation information to other members of the unmanned aerial vehicle navigation system through the short-distance channel;
while or after executing the issued pilot task, the method further comprises:
and sending the unit management and control information sent by the unmanned aerial vehicle management platform to other members of the unmanned aerial vehicle piloting system.
Preferably, while executing the issued pilot task, the method further includes:
when the piloting change condition is met, sending a piloting change request to an unmanned aerial vehicle management platform and a number management platform;
receiving a number recovery notice sent by a number management platform;
and restoring the formal number to a preset informal number according to the number restoring notice.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle navigation method, which is applied to a number management platform in an unmanned aerial vehicle navigation system, and the method includes:
receiving a navigation request sent by a piloting unmanned aerial vehicle, wherein the navigation request carries an informal number preset in the piloting unmanned aerial vehicle; or receiving an appointed piloting request sent by the unmanned aerial vehicle management platform, wherein the appointed piloting request carries information of a piloting unmanned aerial vehicle;
sending a number forward notification to the piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
and receiving the successful message of the correction fed back by the piloting unmanned aerial vehicle, and simultaneously forwarding the successful message of the correction to the unmanned aerial vehicle management platform.
Preferably, receiving the pilot request sent by the pilot drone includes:
receiving a piloting request sent by a piloting unmanned aerial vehicle through a special channel between the piloting unmanned aerial vehicle and the piloting unmanned aerial vehicle;
send number to piloting unmanned aerial vehicle and change notice of just, include:
and sending a number forward notification to the piloting unmanned aerial vehicle through a special channel.
Preferably, the method further comprises:
receiving a piloting change request sent by an unmanned aerial vehicle management platform, wherein the piloting change request carries information of a new piloting unmanned aerial vehicle;
sending a number recovery notification to the current piloting unmanned aerial vehicle to notify the current piloting unmanned aerial vehicle to recover the formal number to a preset informal number;
receiving number recovery success information fed back by the current piloting unmanned aerial vehicle;
sending a number forward notification to the new piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
receiving a correction success message sent by a new piloting unmanned aerial vehicle;
and feeding back a navigation change success message to the unmanned aerial vehicle management platform.
In a third aspect, an embodiment of the present invention provides a piloting unmanned aerial vehicle, including:
the wireless unit is used for receiving a number forwarding notice sent by the number management platform, and the number forwarding notice carries a formal number;
the number unit is connected with the wireless unit and used for changing the preset informal number into a formal number according to the number correction notification;
the wireless unit is also used for feeding back a correction success message to the number management platform and receiving a piloting task issued by the unmanned aerial vehicle management platform;
the pilot unit is connected with the number unit and used for executing the issued pilot task;
and the near communication unit is connected with the navigation unit and is used for sending local navigation notification to other members of the unmanned aerial vehicle navigation system.
In a fourth aspect, an embodiment of the present invention provides a number management platform, including:
the first receiving unit is used for receiving a navigation request sent by a piloting unmanned aerial vehicle, wherein the navigation request carries an informal number preset in the piloting unmanned aerial vehicle; or, the system is used for receiving an appointed navigation request sent by the unmanned aerial vehicle management platform, wherein the appointed navigation request carries information of the piloting unmanned aerial vehicle;
the sending unit is used for sending a number correction notification to the piloting unmanned aerial vehicle, and the number correction notification carries a formal number;
and the second receiving unit is used for receiving the righting success message fed back by the piloting unmanned aerial vehicle and forwarding the righting success message to the unmanned aerial vehicle management platform.
In a fifth aspect, an embodiment of the present invention provides an unmanned aerial vehicle piloting system, including the piloting unmanned aerial vehicle in the third aspect and the number management platform in the fourth aspect.
According to the unmanned aerial vehicle piloting method and system, the piloting unmanned aerial vehicle and the number management platform, the number transfer notification is sent to the piloting unmanned aerial vehicle through the number management platform, and the piloting unmanned aerial vehicle changes the preset informal number into the formal number after receiving the number transfer notification, so that the piloting unmanned aerial vehicle can receive a piloting task issued by the unmanned aerial vehicle management platform and execute the issued piloting task, centralized management of the group trip of the unmanned aerial vehicles is realized, and the problems that when the existing unmanned aerial vehicle group trip executes the task, only one-to-one management can be realized and centralized management of the group trip of the unmanned aerial vehicles cannot be met are solved.
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FIG. 1: the invention is a flow chart of the piloting method of the unmanned aerial vehicle in the embodiment 1;
FIG. 2: an interactive schematic diagram of piloting of an unmanned aerial vehicle of the piloting method of the unmanned aerial vehicle in embodiment 1 of the invention;
FIG. 3: an interactive schematic diagram of piloting change of an unmanned aerial vehicle of the piloting method of the unmanned aerial vehicle in embodiment 1 of the invention;
FIG. 4: an interactive schematic diagram of the piloting recovery of the piloting unmanned aerial vehicle of the piloting method of the unmanned aerial vehicle in embodiment 1 of the invention is shown;
FIG. 5: a flow chart of an unmanned aerial vehicle piloting method of embodiment 2 of the invention;
FIG. 6: is a structure diagram of a piloting unmanned aerial vehicle of embodiment 3 of the invention;
FIG. 7: a structure diagram of a number management platform in embodiment 4 of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
Example 1:
the embodiment provides an unmanned aerial vehicle navigation method, which is applied to a piloting unmanned aerial vehicle in an unmanned aerial vehicle piloting system, and as shown in fig. 1, the method includes:
step S102: receiving a number forward notification sent by a number management platform, wherein the number forward notification carries a formal number;
in this embodiment, unmanned aerial vehicle navigation system includes pilot unmanned aerial vehicle and number management platform, can also include one or more with pilot unmanned aerial vehicle is located with navigation unmanned aerial vehicle and the alternative pilot unmanned aerial vehicle of same unit, and pilot unmanned aerial vehicle possesses the unmanned aerial vehicle of pilot function for the unmanned aerial vehicle that possesses in the unit for undertake responsibilities such as pilot, provide pilot and communication information to other unmanned aerial vehicles in the unit, other unmanned aerial vehicles include with navigation unmanned aerial vehicle and alternative pilot unmanned aerial vehicle. The piloting unmanned aerial vehicle is internally preset with piloting configuration, and the piloting configuration can comprise a wireless unit, a number unit, a piloting unit, a short-distance communication unit and the like. The alternative piloting unmanned aerial vehicle is a piloting unmanned aerial vehicle which can be used for alternative piloting when the current piloting unmanned aerial vehicle fails, and the piloting configuration is also preset in the alternative piloting unmanned aerial vehicle. The following unmanned aerial vehicle is an unmanned aerial vehicle of which the route and control management mainly depend on the relay of the piloting unmanned aerial vehicle. Wherein, in order to realize the minimizing configuration of communication resources, the following unmanned aerial vehicle does not need to preset the piloting configuration, and only needs to configure a near-range communication unit for communicating with the piloting unmanned aerial vehicle, the alternative piloting unmanned aerial vehicle and other following unmanned aerial vehicles.
Alternatively, in step S102: before the step of receiving the number forwarding notification sent by the number management platform, the method may further include:
sending a navigation request to the number management platform through a special channel between the number management platform and the number management platform, wherein the navigation request carries a preset informal number;
receiving the number forwarding notification sent by the number management platform may include:
and receiving a number forwarding notice sent by the number management platform through a special channel.
In this embodiment, the number redirection notification may be directly issued by the drone management platform, or may be issued after the piloting drone actively initiates the piloting request. The navigation unmanned aerial vehicle is characterized in that an informal number is preset in the navigation unmanned aerial vehicle, the informal number is an intranet special number, is effective only in an intranet and a private network, is invisible to the outside and can only interact through a special channel, and if the informal number is an auxiliary terminal number, a navigation unit of the navigation unmanned aerial vehicle is in a dormant state. The formal number refers to a number, such as a mobile number, which can be accessed to a wireless universal network (extranet or public network) to perform public network communication by using methods such as short messages, languages, traffic and the like.
In this embodiment, in order to realize the minimum configuration of number resources, the whole unmanned aerial vehicle set can share one official number, and meanwhile, the alternative piloting unmanned aerial vehicle with the piloting function only needs to be internally configured with one informal number, so that the simplified configuration of number resources is realized, and limited number resources are saved.
In this embodiment, the dedicated channel is used for navigating the unmanned aerial vehicle to interact with the number management platform to complete number forwarding, for example, the dedicated channel may be a dedicated channel of a network dedicated to an operator.
Step S104: changing the preset informal number into a formal number according to the number correction notification;
in this embodiment, by changing an informal number preset inside to a formal number, hardware function change based on a soft number can be realized, management of number resources is realized to drive change of functions of a piloting unmanned aerial vehicle, selection and migration of a private channel and a public channel are realized through number conversion, the public channel is used for interacting with an unmanned aerial vehicle management platform under the formal number, for example, the public channel can be a public network of an operator, the piloting unmanned aerial vehicle, an alternative piloting unmanned aerial vehicle and a number management platform are respectively provided with a public network interface and a private network interface for establishing the public channel and the private channel, the unmanned aerial vehicle management platform is provided with a public network interface, after the number conversion, the piloting unmanned aerial vehicle interacts with the public network interfaces of the number management platform and the unmanned aerial vehicle management platform through the public network interface, and communication relay and management functions are completed through a short-distance communication unit, thereby can realize each unmanned aerial vehicle's remote management, especially do not possess public network communication module with navigating unmanned aerial vehicle, further reduce the threshold that unmanned aerial vehicle inserted and managed.
In this embodiment, after the number is transferred, a built-in pilot unit of the piloting unmanned aerial vehicle is activated, and the pilot unit is responsible for realizing the piloting function assumed by the belonging unmanned aerial vehicle, and outputting route navigation information, background management instructions, remote control information and the like generated or received by the unmanned aerial vehicle to other unmanned aerial vehicles of the unit. Under an informal number, the pilot unit is in a dormant state, the pilot unit is switched from the dormant state to an activated state along with the number change, and meanwhile, the communication channel is selected according to the attribute of the number.
In this embodiment, the change of the informal number in the unmanned aerial vehicle to a formal number may be achieved by a number unit of the piloting unmanned aerial vehicle, the number unit may be used for management of number resources in the unmanned aerial vehicle, and may be a conventional SIM card management unit, or a unit such as a secure area or a secure chip that bears the number resources and configurations, and the number unit interacts with a number management platform through a wireless unit. The wireless unit can be used for receiving number transfer notification and feedback transfer success information sent by the number management platform, receiving a piloting task issued by the unmanned aerial vehicle management platform, bearing the communication functions between the unmanned aerial vehicle and the number management platform as well as the unmanned aerial vehicle management platform, and providing a public network interface and a private network interface, wherein the public network interface is used for public network communication under formal numbers, and the private network interface is used for private network communication under informal numbers. The wireless unit interacts with the number management platform and the unmanned aerial vehicle management platform through the official number, receives information such as a control instruction of the unmanned aerial vehicle management platform to the unmanned aerial vehicle, and can interact with the number management platform through the informal number.
Step S106: feeding back a message of successful correction to the number management platform, and simultaneously sending a local navigation notification to other members of the unmanned aerial vehicle navigation system;
in this embodiment, the piloting unmanned aerial vehicle sends the local piloting notification to other members through the short-range channel, that is, the short-range communication unit, and the other members receive the local piloting notification sent by the piloting unmanned aerial vehicle through respective short-range communication units. Near field communication between the unmanned aerial vehicle group member can be realized through near field communication unit, and piloting unmanned aerial vehicle's near field communication unit is the near field communication mode between the group member in the high altitude mission, also can be the unit other with the only mode of navigation member with external communication.
Step S108: receiving a piloting task issued by an unmanned aerial vehicle management platform;
in this embodiment, the number management platform may be responsible for issuing, changing, managing, and the like of the number of the unmanned aerial vehicle, may interact with the piloting unmanned aerial vehicle and the alternative piloting unmanned aerial vehicle through an informal number dedicated channel, and may also interact with the piloting unmanned aerial vehicle through a wireless network (formal number). The unmanned aerial vehicle management platform can be responsible for unmanned aerial vehicle communication and function management, and the remote management to the unit, including function appointing, change, remote control etc.. The management of piloting unmanned aerial vehicles is completed through a wireless network, and the management of following members is completed through the relay of the piloting unmanned aerial vehicles.
Optionally, step S108: receiving a piloting task issued by an unmanned aerial vehicle management platform may include:
receiving a piloting task issued by an unmanned aerial vehicle piloting management platform through a common channel between the unmanned aerial vehicle piloting management platform and the unmanned aerial vehicle;
simultaneously with or before executing the issued pilot task, the method further comprises the following steps: and sending the navigation information to other members of the unmanned aerial vehicle navigation system through the short-distance channel.
While or after executing the issued pilot task, the method further comprises:
and sending the unit management and control information sent by the unmanned aerial vehicle management platform to other members of the unmanned aerial vehicle piloting system.
In this embodiment, piloting unmanned aerial vehicle carries out near field communication through other unmanned aerial vehicles in short distance passageway and the unit, with piloting unmanned aerial vehicle only need dispose near field communication unit, be connected with piloting unmanned aerial vehicle's near field communication unit, with piloting unmanned aerial vehicle inserts mobile network as the communication relay is indirect, receive the piloting information and the unit management and control information that the piloting management platform sent, thereby the remote communication and the management problem with piloting unmanned aerial vehicle that do not have the configuration of telecommunication module have been solved, when further reducing with the unmanned aerial vehicle access threshold, high altitude unmanned aerial vehicle's remote management function has been completed.
Step S110: and executing the issued piloting task.
Alternatively, in step S110: while executing the issued pilot task, the method may further include:
when the piloting change condition is met, sending a piloting change request to an unmanned aerial vehicle management platform and a number management platform;
receiving a number recovery notice sent by a number management platform;
and restoring the formal number to a preset informal number according to the number restoring notice.
In this embodiment, a pilot change condition is satisfied, for example, the pilot unmanned aerial vehicle cannot continue to execute a pilot task because of instability, failure, (pilot) resource unavailability, and the like, a pilot change request may be initiated by a pilot unmanned aerial vehicle side cause or may be actively initiated by an unmanned aerial vehicle management platform, the unmanned aerial vehicle management platform starts a pilot change process, and a new pilot unmanned aerial vehicle is selected from alternative pilot unmanned aerial vehicles to continue to implement the pilot of a flight crew. The number management platform sends a number recovery notice to the piloting unmanned aerial vehicle, and the piloting unmanned aerial vehicle recovers the formal number to the original informal number after receiving the number recovery notice, so that the piloting unit is triggered to be switched from an activated state to a dormant state.
Specifically, referring to fig. 2, an interactive schematic diagram of piloting an unmanned aerial vehicle of a piloting method of an unmanned aerial vehicle according to an embodiment of the present invention is shown, in this embodiment, the piloting of the unmanned aerial vehicle includes the following steps:
step S201: the piloting unmanned aerial vehicle (at this time, the piloting unmanned aerial vehicle is called as piloting unmanned aerial vehicle for convenience because the piloting function is not executed) sends a piloting request to the number management platform;
in this embodiment, a first pilot task is started in the first flight of the unmanned aerial vehicle, and at this time, each pilot unmanned aerial vehicle is an alternative pilot unmanned aerial vehicle, and a pilot alternative list is established for the alternative pilot unmanned aerial vehicle. The unmanned aerial vehicle management platform needs to select a pilot unmanned aerial vehicle according to a flow and conduct pilot on other members, and can also be actively initiated by a standby pilot unmanned aerial vehicle.
Step S202: after receiving the piloting request, the number management platform sends an authorization request to the unmanned aerial vehicle management platform to request authorization to forward the number of the unmanned aerial vehicle;
step S203: the unmanned aerial vehicle management platform authorizes a forward request of the number management platform;
step S204: the number management platform sends a number forward notification to the piloting unmanned aerial vehicle through a special channel, wherein the notification carries formal number data information;
in this embodiment, if the number forwarding notification is actively initiated by the drone management platform, steps S201 to S203 may be omitted, where the number forwarding notification includes relevant information of the designated piloting drone, and the number forwarding notification is actively issued by the number management platform to the designated piloting drone.
Step S205: after the piloting unmanned aerial vehicle receives the correction notification, the internal number unit executes number correction, changes the informal number into a formal number carried in the notification, synchronously updates number configuration data in the unit, completes number correction, activates the piloting unit, and converts the informal number into a number unit;
step S206: the piloting unmanned aerial vehicle feeds back a correction success message to the number management platform and simultaneously sends a local piloting notice to other members;
step S207: the number management platform forwards a forward success message to the unmanned aerial vehicle management platform;
step S208: the unmanned aerial vehicle management platform issues a piloting task to a piloting unmanned aerial vehicle, wherein the piloting task comprises a piloting target or a specific route and the like;
step S209: the piloting unmanned aerial vehicle starts a piloting function through an in-machine piloting unit, executes a piloting task, and sends piloting information to other members through a near field communication unit;
step S210: the unmanned aerial vehicle management platform takes the piloted unmanned aerial vehicle as a relay, realizes the control of the unmanned aerial vehicle set and sends control information to the piloted unmanned aerial vehicle;
step S211: and the piloting unmanned aerial vehicle forwards the control information from the background to other members of the set through the near field communication unit.
In a specific example, assuming that the unmanned aerial vehicle performs a certain task when going out, and the unmanned aerial vehicle a pilots other unmanned aerial vehicles, and the unmanned aerial vehicle a has preset an informal number, the service flow is as follows:
step 1: the unmanned aerial vehicle A sends a piloting request to a number management platform through an informal number;
step 2: the number management platform sends an authorization request to the unmanned aerial vehicle management platform;
and step 3: the unmanned aerial vehicle management platform authorizes the request;
and 4, step 4: the number management platform sends a number forwarding notification to the unmanned aerial vehicle A;
and 5: the unmanned aerial vehicle A acquires formal number data in the notification and carries out number correction;
step 6: a, if the forwarding is successful, sending a forwarding success message to a number management platform and an unmanned aerial vehicle management platform;
and 7: the unmanned aerial vehicle management platform sends navigation information to the A;
and 8: a, starting a navigation unit, executing a navigation task and sending navigation information to other members;
and step 9: the unmanned aerial vehicle management platform takes the A as a relay and sends the control messages of other members to the A;
step 10: and A directionally distributing the received control message to other members to realize the control of the unit.
Specifically, referring to fig. 3, an interactive schematic diagram of a piloting change of a piloting unmanned aerial vehicle of the piloting method of an unmanned aerial vehicle according to the embodiment of the present invention is shown, where the piloting change includes the following steps:
step S301: the current piloting unmanned aerial vehicle A sends a piloting change request to an unmanned aerial vehicle management platform;
the piloting change request can also be actively initiated to the number management platform by the unmanned aerial vehicle management platform, at the moment, the request carries the information of a new piloting unmanned aerial vehicle, and the number management platform actively issues a number correction notification to the newly appointed unmanned aerial vehicle
Step S302: after receiving the piloting change request, the unmanned aerial vehicle management platform selects a new piloting unmanned aerial vehicle from the alternatives;
step S303: the unmanned aerial vehicle management platform sends a piloting change response to the number management platform, and the request carries information of a new piloting unmanned aerial vehicle;
step S304: the number management platform sends a number recovery notice to the current piloting unmanned aerial vehicle A through a public channel wireless network, and the notice A recovers to an informal number;
step S305: after receiving the recovery notification, the current piloting unmanned aerial vehicle A executes number recovery by the internal number unit, changes the formal number into a local informal number preset in the unit, synchronously updates number configuration data in the unit, completes the number recovery, and forwards the original formal number to the number unit;
step S306: the current piloting unmanned aerial vehicle A feeds back a recovery success message to the number management platform through an informal number dedicated channel;
step S307: the number management platform sends a number forward notification to the newly designated piloting unmanned aerial vehicle B;
step S308: if the newly-assigned piloting unmanned aerial vehicle B executes the piloting task of the set, formal number data information exists in the set, and the number unit completes correction by itself, otherwise, the formal number data information carried in the notification is obtained, and correction is completed;
step S309: the new piloting unmanned aerial vehicle B sends a forward turning success message to the number management platform, and simultaneously sends a piloting change message to other members;
step S310: the number management platform feeds back a navigation change success message to the unmanned aerial vehicle management platform;
step S311: and the unmanned aerial vehicle management platform issues a piloting task and a control message to the new piloting unmanned aerial vehicle B, and the new piloting unmanned aerial vehicle B executes the piloting task.
Step S312: and the new piloting unmanned aerial vehicle B sends a piloting change notice to other unmanned aerial vehicles.
Specifically, referring to fig. 4, an interaction schematic diagram of a piloting recovery of an unmanned aerial vehicle of a piloting method of an unmanned aerial vehicle according to an embodiment of the present invention is shown, in this embodiment, during flight of an unmanned aerial vehicle, due to an unmanned aerial vehicle side, a current piloting unmanned aerial vehicle needs to suspend a piloting task, and after the current piloting unmanned aerial vehicle recovers, a piloting function of the current piloting unmanned aerial vehicle can be actively recovered, where the piloting recovery includes the following steps:
step S401: the current piloting unmanned aerial vehicle A sends a piloting temporary change request to a number/unmanned aerial vehicle management platform;
the procedure of the pilot temporary change request is similar to the pilot change procedure, and is not described herein again.
Step S402: the two management platforms and the unmanned aerial vehicle jointly interact to complete the selection and temporary navigation change of the alternative piloting unmanned aerial vehicle;
step S403: the new temporary piloting unmanned aerial vehicle B sends a piloting temporary change (as a local machine) notice to other members, and executes a temporary piloting task issued by the piloting management platform of the unmanned aerial vehicle;
step S404: after the original piloting unmanned aerial vehicle A is available, sending a piloting recovery request to a number management platform to request to recover the piloting task;
step S405: after the two platforms interact, the number management platform agrees to navigation recovery information, and simultaneously sends a navigation recovery notice to the temporary piloting unmanned aerial vehicle B through a formal number public channel and sends a navigation recovery notice to the original piloting unmanned aerial vehicle A through an informal number private channel;
step S406: the temporary piloting unmanned aerial vehicle B (number unit) automatically completes number recovery, recovers the temporary piloting unmanned aerial vehicle B as an alternative unmanned aerial vehicle, and sends a number recovery success message to the original piloting unmanned aerial vehicle A through a near channel, wherein the near channel is a channel established by two near communication units;
step S407: the original piloting unmanned aerial vehicle A completes number correction by self, recovers the piloting of the unmanned aerial vehicle, and sends a successful piloting recovery message to the platform;
step S408: the unmanned aerial vehicle management platform issues a piloting task and a control message to the piloting unmanned aerial vehicle A again, and the original piloting unmanned aerial vehicle A executes the piloting task;
step S409: and the piloting unmanned aerial vehicle A sends a piloting recovery notice to other unmanned aerial vehicles through the near channel.
According to the unmanned aerial vehicle navigation method provided by the embodiment of the invention, the number transfer notification is sent to the piloting unmanned aerial vehicle through the number management platform, and the piloting unmanned aerial vehicle changes the preset informal number into the formal number after receiving the number transfer notification, so that the piloting unmanned aerial vehicle can receive the piloting information issued by the unmanned aerial vehicle management platform and execute the issued piloting task, the centralized management of the group trip of the unmanned aerial vehicles is realized, and the problems that the centralized management of the group trip of the unmanned aerial vehicles cannot be met because only one-to-one management can be realized when the existing unmanned aerial vehicle group trip executes the task are solved.
Example 2:
as shown in fig. 5, this embodiment provides an unmanned aerial vehicle navigation method, which is applied to a number management platform in an unmanned aerial vehicle navigation system, and the method includes:
step S502: receiving a navigation request sent by a piloting unmanned aerial vehicle, wherein the navigation request carries an informal number preset in the piloting unmanned aerial vehicle; or receiving an appointed piloting request sent by the unmanned aerial vehicle management platform, wherein the appointed piloting request carries information of a piloting unmanned aerial vehicle;
step S504: sending a number forward notification to the piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
step S506: and receiving the successful message of the correction fed back by the piloting unmanned aerial vehicle, and simultaneously forwarding the successful message of the correction to the unmanned aerial vehicle management platform.
Optionally, receiving the pilot request sent by the pilot drone may include:
receiving a piloting request sent by a piloting unmanned aerial vehicle through a special channel between the piloting unmanned aerial vehicle and the piloting unmanned aerial vehicle;
sending a number redirection notification to the piloted drone may include:
and sending a number forward notification to the piloting unmanned aerial vehicle through a special channel.
Optionally, the method may further comprise:
receiving a piloting change request sent by an unmanned aerial vehicle management platform, wherein the piloting change request carries information of a new piloting unmanned aerial vehicle;
sending a number recovery notification to the current piloting unmanned aerial vehicle to notify the current piloting unmanned aerial vehicle to recover the formal number to a preset informal number;
receiving number recovery success information fed back by the current piloting unmanned aerial vehicle;
sending a number forward notification to the new piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
receiving a correction success message sent by a new piloting unmanned aerial vehicle;
and feeding back a navigation change success message to the unmanned aerial vehicle management platform.
Example 3:
as shown in fig. 6, the present embodiment provides a piloting unmanned aerial vehicle, including:
the wireless unit 30 is used for receiving a number change notification sent by the number management platform, and the number change notification carries a formal number;
a number unit 32 connected to the wireless unit 30 for changing a preset informal number into a formal number according to the number change notification;
the wireless unit 30 is further configured to feed back a message of success of forwarding to the number management platform, and receive a pilot task issued by the unmanned aerial vehicle management platform;
the navigation unit 34 is connected with the number unit 32 and used for executing the issued navigation task;
and the short-distance communication unit 36 is connected with the navigation unit 34 and is used for sending local navigation notification to other members of the unmanned aerial vehicle navigation system.
Optionally, the wireless unit 30 is further configured to send a pilot request to the number management platform through a dedicated channel between the number management platform and the number management platform, where the pilot request carries a preset informal number;
alternatively, the wireless unit 30 receives the number redirection notification sent by the number management platform through a dedicated channel.
Optionally, the wireless unit 30 receives a piloting task issued by the piloting management platform of the unmanned aerial vehicle through a common channel with the piloting management platform of the unmanned aerial vehicle;
optionally, the short-range communication unit 36 is further configured to send pilot information and/or unit management and control information to other members of the unmanned aerial vehicle pilot system;
optionally, the wireless unit 30 is further configured to send a piloting change request to the drone management platform and the number management platform and receive a number recovery notification sent by the number management platform when the piloting change condition is met;
optionally, the number unit 32 is further configured to restore the formal number to a preset informal number according to the number restoration notification.
Example 4:
as shown in fig. 7, the present embodiment provides a number management platform, including:
the first receiving unit 40 is configured to receive a pilot request sent by a pilot unmanned aerial vehicle, where the pilot request carries an informal number preset in the pilot request; or, the system is used for receiving an appointed navigation request sent by the unmanned aerial vehicle management platform, wherein the appointed navigation request carries information of the piloting unmanned aerial vehicle;
a sending unit 42, configured to send a number change notification to the piloted unmanned aerial vehicle, where the number change notification carries a formal number;
and the second receiving unit 44 is configured to receive the message of successful alignment conversion fed back by the piloted unmanned aerial vehicle, and forward the message of successful alignment conversion to the unmanned aerial vehicle management platform.
Optionally, the first receiving unit 40 is specifically configured to receive a pilot request sent by a pilot drone through a dedicated channel between the first receiving unit and the pilot drone;
optionally, the sending unit 42 is specifically configured to send a number redirection notification to the piloted drone through a dedicated channel.
Optionally, the method may further comprise:
the third receiving unit is used for receiving a piloting change request sent by the unmanned aerial vehicle management platform, wherein the piloting change request carries information of a new piloting unmanned aerial vehicle;
the number recovery notification unit is used for sending a number recovery notification to the current piloting unmanned aerial vehicle so as to notify the current piloting unmanned aerial vehicle to recover the formal number to a preset informal number;
the fourth receiving unit is used for receiving the number recovery success information fed back by the current piloting unmanned aerial vehicle;
the number forwarding sending unit is used for sending a number forwarding notice to the new piloting unmanned aerial vehicle, and the number forwarding notice carries a formal number;
a fifth receiving unit, configured to receive a message of successful alignment change sent by the new piloted unmanned aerial vehicle;
and the feedback unit is used for feeding back a navigation change success message to the unmanned aerial vehicle management platform.
Example 5:
the embodiment provides an unmanned aerial vehicle navigation system, which comprises a piloting unmanned aerial vehicle in embodiment 3 and a number management platform in embodiment 4.
Embodiments 2 to 5 provide an unmanned aerial vehicle piloting method and system, a piloting unmanned aerial vehicle, and a number management platform, where a number diversion notification is sent to the piloting unmanned aerial vehicle through the number management platform, and the piloting unmanned aerial vehicle changes a preset informal number into a formal number after receiving the number diversion notification, so that the piloting unmanned aerial vehicle can receive a piloting task issued by the unmanned aerial vehicle management platform and execute the issued piloting task, thereby realizing centralized management of unmanned aerial vehicle group travel, and solving the problem that when an existing unmanned aerial vehicle group travel executes a task, only one-to-one management can be realized, and centralized management of unmanned aerial vehicle group travel cannot be satisfied.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle navigation method is applied to a piloting unmanned aerial vehicle in an unmanned aerial vehicle piloting system, and comprises the following steps:
receiving a number forward notification sent by a number management platform, wherein the number forward notification carries a formal number;
changing a preset informal number into the formal number according to the number correction notification;
feeding back a message of successful correction to a number management platform, and simultaneously sending a local navigation notification to other members of the unmanned aerial vehicle navigation system;
receiving a piloting task issued by an unmanned aerial vehicle management platform;
and executing the issued pilot task.
2. The piloting method of an unmanned aerial vehicle of claim 1, wherein before the step of receiving the number redirection notification sent by the number management platform, the method further comprises:
sending a navigation request to the number management platform through a special channel between the number management platform and the number management platform, wherein the navigation request carries a preset informal number;
the receiving of the number forwarding notification sent by the number management platform includes:
and receiving a number forwarding notice sent by the number management platform through the special channel.
3. Unmanned aerial vehicle piloting method according to claim 2,
the receiving of the piloting task issued by the unmanned aerial vehicle management platform comprises:
receiving a piloting task issued by the piloting management platform of the unmanned aerial vehicle through a common channel between the unmanned aerial vehicle and the piloting management platform;
while or before executing the issued pilot task, the method further comprises: sending navigation information to other members of the unmanned aerial vehicle navigation system through a short-distance channel;
while or after the executing of the issued pilot task, the method further comprises:
and sending the unit management and control information sent by the unmanned aerial vehicle management platform to other members of the unmanned aerial vehicle navigation system.
4. The drone piloting method of claim 3, wherein while performing the issued piloting task, the method further comprises:
when a pilot change condition is met, sending a pilot change request to the unmanned aerial vehicle management platform and the number management platform;
receiving a number recovery notification sent by the number management platform;
and restoring the formal number to a preset informal number according to the number restoring notice.
5. An unmanned aerial vehicle navigation method is applied to a number management platform in an unmanned aerial vehicle navigation system, and comprises the following steps:
receiving a navigation request sent by a piloting unmanned aerial vehicle, wherein the navigation request carries an informal number preset in the piloting request; or receiving an appointed piloting request sent by an unmanned aerial vehicle management platform, wherein the appointed piloting request carries information of the piloting unmanned aerial vehicle;
sending a number forward notification to a piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
and receiving the righting success message fed back by the piloting unmanned aerial vehicle, and simultaneously forwarding the righting success message to the unmanned aerial vehicle management platform.
6. The method of claim 5, wherein the receiving the pilot request from the pilot drone includes:
receiving a piloting request sent by the piloting unmanned aerial vehicle through a special channel between the piloting unmanned aerial vehicle and the piloting unmanned aerial vehicle;
send number to piloting unmanned aerial vehicle and change notice of just, include:
and sending a number forward notification to the piloting unmanned aerial vehicle through the special channel.
7. The drone piloting method according to claim 5, characterized in that it further comprises:
receiving a piloting change request sent by an unmanned aerial vehicle management platform, wherein the piloting change request carries information of a new piloting unmanned aerial vehicle;
sending a number recovery notification to the current piloting unmanned aerial vehicle to notify the current piloting unmanned aerial vehicle to recover the formal number to a preset informal number;
receiving number recovery success information fed back by the current piloting unmanned aerial vehicle;
sending a number forward notification to a new piloting unmanned aerial vehicle, wherein the number forward notification carries a formal number;
receiving a correction success message sent by a new piloting unmanned aerial vehicle;
and feeding back a navigation change success message to the unmanned aerial vehicle management platform.
8. A piloted unmanned aerial vehicle, comprising:
the wireless unit is used for receiving a number forwarding notice sent by the number management platform, and the number forwarding notice carries a formal number;
the number unit is connected with the wireless unit and used for changing a preset informal number into the formal number according to the number correction notification;
the wireless unit is also used for feeding back a correction success message to the number management platform and receiving a pilot task issued by the unmanned aerial vehicle management platform;
the pilot unit is connected with the number unit and used for executing the issued pilot task;
and the near communication unit is connected with the navigation unit and is used for sending local navigation notification to other members of the unmanned aerial vehicle navigation system.
9. A number management platform, comprising:
the first receiving unit is used for receiving a pilot request sent by a pilot unmanned aerial vehicle, wherein the pilot request carries an informal number preset in the pilot request; or, the unmanned aerial vehicle management platform is used for receiving an appointed piloting request sent by the unmanned aerial vehicle management platform, wherein the appointed piloting request carries information of the piloting unmanned aerial vehicle;
the system comprises a sending unit, a receiving unit and a sending unit, wherein the sending unit is used for sending a number correction notification to a piloting unmanned aerial vehicle, and the number correction notification carries a formal number;
and the second receiving unit is used for receiving the righting success message fed back by the piloting unmanned aerial vehicle and forwarding the righting success message to the unmanned aerial vehicle management platform.
10. A drone piloting system comprising the piloting drone of claim 8 and the number management platform of claim 9.
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