CN112666970A

CN112666970A - Unmanned equipment control method and related device

Info

Publication number: CN112666970A
Application number: CN202011472238.6A
Authority: CN
Inventors: 陈杰; 黄蓉
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-04-16

Abstract

The embodiment of the invention provides a control method and a related device for unmanned equipment, and relates to the technical field of control. The unmanned equipment control method comprises the steps of obtaining distance information between the unmanned equipment and the unmanned equipment; under the condition that the distance information does not exceed the corresponding target safety distance, remotely controlling the unmanned equipment to operate by using an available network; and when the distance information exceeds the corresponding target safety distance, suspending controlling the unmanned equipment to perform operation. Therefore, safe remote control of the unmanned equipment operation is realized.

Description

Unmanned equipment control method and related device

Technical Field

The invention relates to the technical field of control, in particular to an unmanned equipment control method and a related device.

Background

With the popularization of agricultural automation, the unmanned operation has gradually replaced the traditional manual operation. Fully automatic unmanned operation depends on a pre-planned operation plan, however, in the actual operation process, many uncontrollable situations may be faced, and therefore, most unmanned equipment still needs to receive remote control of related personnel in the operation process.

However, when the relevant person remotely controls the unmanned device, the communication distance between the unmanned device and the relevant person is too long. Under the condition, the unmanned equipment is controlled to operate, the problems of out-of-control and the like are easy to occur, and very large potential safety hazards also exist.

Disclosure of Invention

In view of the above, the present invention provides an unmanned device control method and a related apparatus.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, the present invention provides an unmanned device control method, applied to a remote control device, the unmanned device control method including: acquiring distance information between the unmanned equipment and the unmanned equipment; under the condition that the distance information does not exceed the corresponding target safety distance, remotely controlling the unmanned equipment to operate by using an available network; and when the distance information exceeds the corresponding target safety distance, suspending controlling the unmanned equipment to perform operation.

In the above embodiment, it is determined whether there is a potential safety hazard in the controlled operation of the unmanned aerial vehicle at this time, using the distance information with the unmanned aerial vehicle, in cooperation with the target safety distance. When the potential safety hazard does not exist, the unmanned equipment is normally remotely controlled to operate, and when the potential safety hazard exists, the unmanned equipment is controlled to operate in a suspended mode, so that the operation safety of the unmanned equipment is guaranteed.

In an alternative embodiment, the available network includes a mobile communication network, and the step of remotely controlling the unmanned aerial device to perform the task using the available network includes: acquiring flight height information of each waypoint in an operation route; determining at least one group of first waypoint pairs from the waypoints; wherein the first waypoint pair comprises a first waypoint and a second waypoint that are adjacent on the operating route; the flight height information corresponding to the first waypoint and the second waypoint exceeds a preset value; acquiring a first navigation line segment corresponding to the first navigation point pair; and under the condition that the unmanned equipment is detected to enter the first route segment, the unmanned equipment is remotely controlled by the mobile communication network to operate.

In the above embodiment, the real-time flight height of the unmanned aerial vehicle is determined in cooperation with the flight path, and then whether communication needs to be performed by using a mobile communication network is determined, so that normal communication can be performed even when the communication distance between the remote control device and the unmanned aerial vehicle is long.

In an alternative embodiment, the available network includes a local area network, and the step of remotely controlling the unmanned aerial device to perform the task using the available network includes: acquiring flight height information of each waypoint in an operation route; determining at least one group of second waypoint pairs from the waypoints; wherein the second waypoint pair comprises a third waypoint and a fourth waypoint that are adjacent on the operating route; the flight height information corresponding to the third waypoint and the fourth waypoint does not exceed a preset value; acquiring a second navigation line segment corresponding to the second navigation point pair; and under the condition that the unmanned equipment is detected to enter the second route segment, the local area network is used for remotely controlling the unmanned equipment to operate.

In the embodiment, the real-time flight height of the unmanned equipment is judged by matching with the air route, and then whether the communication needs to be carried out by using a local area network is judged, so that the direct communication can be ensured under the condition that the communication distance between the remote control equipment and the unmanned equipment is short, and the reliability of the communication is improved by using a special network by means of a third-party base station.

In an alternative embodiment, the available network includes a mobile communication network and a local area network, and the step of remotely controlling the unmanned device to perform the operation by using the available network includes: evaluating communication quality factors of the mobile communication network and the local area network; if the communication quality factor of the mobile communication network is higher than that of the local area network, remotely controlling the unmanned equipment to operate by adopting the mobile communication network; and if the communication quality factor of the mobile communication network is not higher than the communication quality factor of the local area network, remotely controlling the unmanned equipment by using the local area network to operate.

In the embodiment, the communication quality of different available networks is utilized to flexibly select the network for communication, and the communication effect between the remote control device and the unmanned device is guaranteed.

In an alternative embodiment, the step of evaluating the communication quality factors of the mobile communication network and the local area network comprises: respectively testing the average network speed, the network speed difference value and the signal intensity corresponding to the mobile communication network and the local area network; calculating the communication quality factor corresponding to the mobile communication network according to one or a combination of average network speed, network speed difference and signal strength corresponding to the mobile communication network; and calculating the communication quality factor corresponding to the local area network according to one or a combination of the average network speed, the network speed difference and the signal strength corresponding to the local area network.

In an alternative embodiment, after ceasing to control the drone to perform the job using the available network, the method further comprises: carrying out safety operation reminding corresponding to the unmanned equipment; periodically acquiring distance information with the unmanned equipment; and if the distance information of the continuously specified number is greater than the target safety distance, triggering the unmanned equipment to start autonomous return flight.

In the embodiment, the long-time operation of the unmanned equipment is prevented from being out of control, and the user can continuously remotely control the unmanned equipment to perform remote operation within a safety range conveniently through autonomous return navigation.

In an optional embodiment, the unmanned aerial vehicle control method further comprises: identifying a corresponding operation scene according to an operation environment image which is transmitted back by the unmanned equipment and carries the unmanned equipment identification; and inquiring the corresponding target safety distance according to the corresponding relation between the different preset operation scenes and the safety distance so as to compare the target safety distance with the obtained distance information.

In the above embodiment, the applicability of the job scenario is improved by selecting an appropriate target safety distance.

In an optional embodiment, the step of acquiring distance information between the unmanned device and the unmanned device comprises: responding to a job control instruction triggered by a user, and acquiring the position information of the unmanned equipment and the position information of the remote control equipment; and calculating the corresponding distance information according to the position information of the unmanned equipment and the position information of the remote control equipment.

In an optional embodiment, the unmanned aerial vehicle control method further comprises: and receiving the equipment operation state information fed back by the unmanned equipment by utilizing the available network so as to be displayed to a user.

In a second aspect, the present invention provides an unmanned device control method, applied to an unmanned device, the unmanned device control method including: evaluating distance information between the remote control device and the remote control device in response to the position information sent by the remote control device; under the condition that the distance information does not exceed the corresponding target safety distance, performing operation based on an operation control instruction sent by the remote control equipment; and under the condition that the distance information exceeds the corresponding target safety distance, suspending operation and feeding back a safety operation prompt to the remote control equipment.

In a third aspect, the present invention provides an unmanned device control apparatus applied to a remote control device, including: the acquisition module is used for acquiring distance information between the unmanned equipment and the acquisition module; the control module is used for remotely controlling the unmanned equipment to operate by utilizing an available network under the condition that the distance information does not exceed the corresponding target safety distance; the control module is further used for suspending controlling the unmanned equipment to perform operation under the condition that the distance information exceeds the corresponding target safety distance.

In a fourth aspect, the present invention provides an unmanned aerial vehicle control apparatus applied to an unmanned aerial vehicle, comprising: the evaluation module is used for responding to the position information sent by the remote control equipment and evaluating the distance information between the remote control equipment and the evaluation module; the processing module is used for carrying out operation based on an operation control instruction sent by the remote control equipment under the condition that the distance information does not exceed the corresponding target safety distance; the processing module is further configured to suspend the operation and feed back a safety operation prompt to the remote control device when the distance information exceeds the corresponding target safety distance.

In a fifth aspect, the present invention provides an electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method of any one of the preceding embodiments.

In an alternative embodiment, the electronic device comprises a drone with a positioning function.

In an alternative embodiment, the electronic device comprises a remote control with positioning function and matched with the unmanned aerial vehicle.

In a sixth aspect, the invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of the preceding embodiments.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 shows a networking schematic diagram provided by an embodiment of the present invention.

Fig. 2 shows a schematic diagram of an electronic device provided by an embodiment of the invention.

Fig. 3 is a flowchart illustrating one of the steps of an unmanned aerial vehicle control method according to an embodiment of the present invention.

Fig. 4 shows a flowchart of sub-steps of step S101 provided in an embodiment of the present invention.

Fig. 5 is a diagram showing a display example of a remote control device provided by the embodiment of the present invention.

Fig. 6 shows one of the sub-step flow diagrams of step S102 provided by the embodiment of the present invention.

FIG. 7 illustrates an example view of a work route provided by an embodiment of the present invention.

Fig. 8 shows a second flowchart of the sub-steps of step S102 according to the embodiment of the present invention.

Fig. 9 shows a second flowchart of the steps of the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention.

Fig. 10 shows one of schematic diagrams of an unmanned aerial vehicle control apparatus according to an embodiment of the present invention.

Fig. 11 shows a third step of the flow chart of the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention.

Fig. 12 shows a second schematic diagram of the unmanned equipment control device according to the embodiment of the present invention.

Icon: 100-an electronic device; 110-a memory; 120-a processor; 130-a communication module; 500-unmanned device control means; 501-an obtaining module; 502-a control module; 600-unmanned device control means; 601-an evaluation module; 602-processing module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Fig. 1 shows a networking diagram between an unmanned device and a remote control device. As shown in fig. 1, the communication between the drone and the remote control device may be made in a variety of ways.

One is as follows: communication is performed via a local area network (WiFi protocol or bluetooth). For example, the remote control device is taken as a hot spot, and the unmanned device accesses a local area network generated by the remote control device, so that data interaction can be performed between the unmanned device and the remote control device. For another example, the unmanned device is used as a hotspot, and the remote control device is accessed to a local area network generated by the unmanned device, so that data interaction can be performed between the unmanned device and the remote control device.

The second step is as follows: communication is performed through a mobile communication network. For example, both the unmanned device and the remote control device are used as common users to access a mobile communication network (such as a cellular network, a 3G, 4G or 5G network) provided by a network operator, so as to realize data interaction between the unmanned device and the remote control device.

Obviously, the local area network is used as a private network and is specially used for providing service for communication between the unmanned equipment and the remote control equipment, and the communication effect is good. However, it is limited by the communication distance between the drone and the remote control device. Although the mobile communication network is a public network, the defect of limited communication distance of a local area network can be overcome.

Although the mobile communication network can ensure that the unmanned equipment and the remote control equipment carry out remote communication, the remote control has potential safety hazards, for example, the unmanned equipment is out of control because the command sent by the remote control equipment cannot be sent in time during communication delay. For another example, a person operating the remote control device cannot comprehensively know the working environment of the unmanned device at the moment, so that an incorrect remote control decision is made, and finally the unmanned device collides with an obstacle in the environment.

In order to solve the above problem, embodiments of the present invention provide an unmanned device control method and a related apparatus. The above-described drone control method and related apparatus are still applied in the networking environment shown in fig. 1.

Further, as shown in fig. 1, there may be a scenario in which one unmanned device communicates with one remote control device, a scenario in which a plurality of unmanned devices communicate with one remote control device, or a scenario in which one unmanned device communicates with a plurality of remote control devices.

However, the principle is the same whether the unmanned equipment control method and the related apparatus provided by the embodiment of the invention are applied to any communication scenario. For convenience of description, in the following embodiments, a scenario in which an unmanned device communicates with a remote control device is mainly used as an example for description.

Referring to fig. 2, fig. 2 shows an electronic device 100 capable of ensuring the operation of remotely controlling the unmanned device by the remote control device. The electronic device 100 may be a remote control device, such as an unmanned device adapted remote controller (having the capability of accessing a mobile communication network), an intelligent terminal (in which a client for remotely controlling the unmanned device is installed), and the like. The intelligent terminal may be, but is not limited to, a mobile phone, a tablet computer, a desktop computer, a notebook computer, and the like.

The electronic device 100 may be an unmanned device. The unmanned device is a device with the capability of accessing a mobile communication network. For example, the unmanned device may be an unmanned aerial vehicle, an unmanned ship, or the like.

As shown in fig. 2, the electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

The memory 110 is used to store programs or data. The Memory 110 may be, but is not limited to, a Random Access Memory 110 (RAM), a Read Only Memory 110 (ROM), a Programmable Read Only Memory 110 (PROM), an Erasable Read Only Memory 110 (EPROM), an electrically Erasable Read Only Memory 110 (EEPROM), and the like.

The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions.

The communication module 130 is configured to establish a communication connection between the electronic device 100 and another communication terminal through the network, and to transmit and receive data through the network. In a scenario where the electronic device 100 is a remote control device, the communication module 130 is configured to implement data interaction with the unmanned device through a mobile communication network, and is configured to implement data interaction with the unmanned device through a local area network. Also, in a scenario where the electronic device 100 is an unmanned device, the communication module 130 is configured to implement data interaction with a remote control device through a mobile communication network, and is configured to implement data interaction with the remote control device through a local area network.

It should be understood that the structure shown in fig. 2 is only a schematic structural diagram of the electronic device 100, and the electronic device 100 may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

In order to facilitate understanding of the unmanned aerial vehicle control method provided by the embodiment of the present invention for those skilled in the art, the above-mentioned unmanned aerial vehicle control method is described below from the perspective of the remote control device and the unmanned aerial vehicle, respectively. The method comprises the following specific steps:

referring to fig. 3, fig. 3 is a flowchart illustrating an unmanned aerial vehicle control method according to an embodiment of the present invention. The unmanned equipment control method is applied to remote control equipment. As shown in fig. 3, the above-mentioned unmanned aerial vehicle control method may include the steps of:

and step S101, acquiring distance information between the unmanned equipment and the unmanned equipment.

In some embodiments, it may be that a straight-line distance between a location point corresponding to the drone and a location point corresponding to the remote control device is obtained.

And S102, under the condition that the distance information does not exceed the corresponding target safety distance, remotely controlling the unmanned equipment by using the available network to perform operation.

The target safety distance is a distance range for determining safe operation of the remote control unmanned equipment. In the distance range, the distance between the unmanned equipment and the remote control equipment can be reliably controlled in both the distance range and the distance range, and the possibility of out of control in the operation process of the remote control unmanned equipment is reduced.

The available network is a network which can be used for communication between the unmanned equipment and the remote control equipment, and as shown in fig. 1, the available network can be, but is not limited to, one of a mobile communication network and a local area network or a combination of the mobile communication network and the local area network.

In some embodiments, in a case where it is determined that the unmanned device can be reliably remotely controlled to perform a job, a job control instruction is transmitted to the unmanned device using an available network to instruct the unmanned device to perform the job.

The job control instruction may be a command related to controlling the operation of the unmanned aerial device. The type of job control instruction may vary depending on the type of unmanned equipment. For example, when the unmanned device is an unmanned aerial vehicle, the operation control instructions may include flight direction and attitude control instructions (e.g., forward, backward, left-shift, right-shift, up, down, left-shift, right-shift, etc.), mounting control instructions (e.g., instructions for controlling a camera to take/record a picture, or controlling a spraying system, a sowing system to pause/start working, etc.), and flight line parameter modification instructions (e.g., flight height, speed instructions, etc.). For another example, when the unmanned device is an unmanned vehicle, the operation control command may include a driving target command (e.g., a command for specifying a driving destination), a driving direction command (e.g., a forward command, a reverse command, a turn command), a mounting control command (e.g., a command for controlling a camera to take a picture/record a video, or controlling a spraying system, a sowing system to temporarily/start working, etc.), and an operation path adjustment command (e.g., a path switching command, a driving speed adjustment command).

And step S103, when the distance information exceeds the corresponding target safety distance, suspending the control of the unmanned equipment to perform the operation.

In some embodiments, the distance between the unmanned equipment and the surface of the unmanned equipment exceeds the corresponding target safety distance, the surface has a high possibility of safety accidents caused by the fact that the unmanned equipment is continuously controlled to work, and in order to guarantee the safety of the unmanned equipment, the transmission of a work control instruction to the unmanned equipment is suspended, so that accidents caused by invalid control instructions are avoided. Of course, at this time, a flight target instruction, such as a hovering instruction, a landing instruction, and a returning instruction, may be sent to the unmanned device to prompt the distance between the unmanned device and the flight target instruction to return to the target safe distance range. Therefore, the unmanned equipment control method provided by the embodiment of the invention determines whether to remotely control the unmanned equipment to operate or not by judging the communication distance, thereby ensuring the safety of the unmanned equipment in the operation process. The phenomenon of out of control in the remote communication process is avoided.

Implementation details of embodiments of the present invention are described below:

the step S101 is a premise for realizing the above-described unmanned aerial vehicle control method.

In some embodiments, the step S101 may be to periodically acquire the distance information between the remote control device and the unmanned device at preset time intervals. Generally, after the remote control device starts the job control of the unmanned device, the remote control device periodically starts to acquire the distance information between the remote control device and the unmanned device.

It will be appreciated that either the drone or the remote control device may be located using location technology to obtain the corresponding location information. Therefore, the remote control device can receive the position information fed back by the unmanned device, and then calculate the distance information between the remote control device and the unmanned device according to the position information of the unmanned device and the position information autonomously acquired by the remote control device.

The Positioning technology may be based on Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), COMPASS Navigation System (COMPASS), galileo Positioning System, Quasi-Zenith Satellite System (QZSS), Wireless Fidelity (WiFi), or any combination thereof. One or more of the above-described positioning systems may be used interchangeably in this application.

In addition, for an operation scene in which the remote control device and the unmanned device are not on the same horizontal plane, the acquired position information may further include height information. For example, the unmanned aerial vehicle is not located on the same horizontal plane with the remote control device in the operation process, at this time, the unmanned aerial vehicle needs to measure and calculate height information of the unmanned aerial vehicle from the ground besides needing to position the longitude and latitude information of the unmanned aerial vehicle, and the longitude and latitude information and the height information are combined to obtain corresponding position information. Similarly, the remote control device needs to measure and calculate the height information of the remote control device from the ground besides the longitude and latitude information of the remote control device.

Obviously, the distance information is acquired periodically according to time intervals, so that control precision can be provided, and the situation that the change of the distance information cannot be sensed in time is avoided. However, each time the distance information needs the unmanned device to transmit back the corresponding location information, and frequent transmission of location information may occupy communication resources. Therefore, in other embodiments, the step S101 may also be triggering to acquire the distance information with the unmanned device under a limited condition. For example, the position information with the unmanned device is acquired when the remote control device needs to send a job control instruction to the unmanned device. That is, as shown in fig. 4, the step S101 may include the following sub-steps:

and a substep S101-1, acquiring the position information of the unmanned equipment and the position information of the remote control equipment in response to the job control command triggered by the user.

In some embodiments, the remote control device may provide the user with multiple controls for creating instructions, it being understood that different job control instructions may be created for different combinations of controls or for operation of a single control. Then, the remote control device creates a job control instruction which meets the intention of the user in response to the triggering operation of the at least one instruction creation control by the user.

For example, as shown in fig. 5, the remote control device displays a direction wheel control, an image acquisition control, a spraying start control, a forward control, a backward control, a speed setting control, and the like to the user, and the user can create an operation control instruction indicating that the unmanned device rotates by sliding the direction wheel control. The user can set a speed value through the speed setting control, and an operation control instruction for instructing the unmanned equipment to adjust the running speed is created.

In some embodiments, after the remote control device creates the job control command, on one hand, the current corresponding location information can be inquired about the unmanned device through the available network, so as to obtain the location information fed back by the unmanned device. On the other hand, the position information of the remote control device is acquired by utilizing the positioning technology of the remote control device.

And a substep S101-2 of calculating corresponding distance information according to the position information of the unmanned equipment and the position information of the remote control equipment.

In some embodiments, the spatial distance may be calculated according to the position information of the unmanned device and the position information of the remote control device to obtain corresponding distance information. It is understood that the way of calculating the spatial distance may refer to the related art, and will not be described herein.

As described above, the remote control device and the unmanned device can communicate with each other in multiple networking manners, and different networking manners have advantages. In order to fully utilize the advantages of different networking modes, different networking modes need to be flexibly switched between the remote control device and the unmanned aerial vehicle for communication, and the following description is mainly given by taking the switching of the networking modes between the remote control device and the unmanned aerial vehicle as an example for flexibly switching the different networking modes for communication:

as shown in fig. 6, the step S102 may include the following steps:

and a substep S102-1 of obtaining the flight height information of each waypoint in the operation route.

The operation route is composed of a plurality of waypoints, and the waypoints are spatial position points which need to be reached by the unmanned aerial vehicle in sequence. The process of planning a working route is, in fact, the process of determining spatial location information for each waypoint. The spatial position information of the waypoint not only comprises longitude and latitude information but also comprises flight height information.

In some embodiments, after the working route for executing the operation is determined, the flight height information corresponding to each waypoint is directly extracted from the working route.

And a substep S102-2 of determining at least one set of first waypoint pairs from the waypoints.

The first waypoint pair consists of two adjacent waypoints, and the flight height information corresponding to the two adjacent waypoints exceeds a preset value. For convenience of description, two adjacent waypoints corresponding to the first waypoint pair are named as a first waypoint and a second waypoint respectively.

It will be appreciated that the adjacent waypoints may be adjacent on the firing line. That is, the unmanned aerial vehicle can approach two waypoints in turn according to the driving process of the operation air route. For example, as shown in fig. 7, since the flight height information corresponding to the waypoint a and the waypoint b both exceed the preset value, the waypoint a can be regarded as a group of first waypoints, and besides, the waypoint c and the waypoint b are also adjacent to each other and the flight height information corresponding to the waypoint c also exceeds the preset value, so the waypoints c and b also form a group of first waypoints.

And a substep S102-3 of obtaining a first flight segment corresponding to the first flight pair.

The first route segment corresponding to the first waypoint pair may be a route segment from the first waypoint to the second waypoint, or may be expressed as a route segment from the second waypoint to the first waypoint.

In some embodiments, a corresponding first flight line segment may be obtained from the working flight line according to the obtained first flight line point pair. For example, segments 1 and 2 in fig. 7 are the corresponding first segments.

And a substep S102-4, under the condition that the unmanned equipment is detected to enter the first route segment, remotely controlling the unmanned equipment to operate by using the mobile communication network.

In some embodiments, the unmanned aerial vehicle may feed back the flight position (flight altitude information and latitude and longitude information) in real time, so that the mobile communication network is directly enabled for communication in the case that the flight position of the unmanned aerial vehicle belongs to the first segment. It will be appreciated that if the remote control device is interacting with the drone using a mobile communications network, then the mobile communications network is still used as an available network in the event that the flight position of the drone is detected as belonging to the first segment of the flight. If the remote control equipment and the unmanned aerial vehicle are using the local area network for data interaction, the available network is switched to the mobile communication network from the local area network when the fact that the flight position of the unmanned aerial vehicle belongs to the first flight segment is detected.

In addition, on the basis of fig. 6, as shown in fig. 8, the step S102 may further include the following steps:

and a substep S102-5 of determining at least one second set of waypoint pairs from the waypoints.

The second waypoint pair also comprises two adjacent waypoints, and the flight height information of the two waypoints corresponding to the second waypoint pair does not exceed a preset value. For convenience of description, two adjacent waypoints corresponding to the second waypoint pair are named as a third waypoint and a fourth waypoint respectively.

And a substep S102-6, obtaining a second navigation line segment corresponding to the second navigation point pair.

In some embodiments, the principle of the sub-step S102-6 is the same as that of the sub-step S102-3, and the description thereof is omitted here.

And a substep S102-7, under the condition that the unmanned equipment is detected to enter the second route section, remotely controlling the unmanned equipment to operate by using the local area network.

In some embodiments, the principle of the sub-step S102-7 is the same as that of the sub-step S102-4, and the description thereof is omitted here.

In some embodiments, the available networks to be used may also be selected based on the communication quality of the communication network. This approach is suitable for all types of unmanned devices. That is, the step S102 can also be implemented in the following manner. The step S102 may include:

(1) and evaluating the communication quality factors of the mobile communication network and the local area network.

In some embodiments, the average network speed, the network speed difference, and the signal strength corresponding to the mobile communication network and the local area network may be tested separately. And calculating the communication quality factor corresponding to the mobile communication network according to one or the combination of the average network speed, the network speed difference and the signal strength corresponding to the mobile communication network. And calculating the communication quality factor corresponding to the local area network according to one or the combination of the average network speed, the network speed difference and the signal strength corresponding to the local area network.

(2) And if the communication quality factor of the mobile communication network is higher than that of the local area network, remotely controlling the unmanned equipment by adopting the mobile communication network to operate.

(3) And if the communication quality factor of the mobile communication network is not higher than that of the local area network, the local area network is adopted to remotely control the unmanned equipment to operate.

Furthermore, it is understood that, in order to avoid frequent switching of the available networks, in some embodiments, the step S102 may further detect a communication quality factor of the currently used available network, obtain a communication quality factor of another communication network if the communication quality factor of the currently used available network is lower than a preset threshold, and switch to use the other communication network when the communication quality factor of the currently available network is lower than the communication quality factor of the other communication network.

In addition, in a scene where the unmanned aerial vehicle is suspended from being controlled to perform the work, the method for controlling the unmanned aerial vehicle may further include:

and S201, carrying out safety operation reminding corresponding to the unmanned equipment. For example, the remote control device displays a prompt message that the unmanned device cannot safely work currently.

And S202, periodically acquiring distance information between the unmanned equipment and the unmanned equipment.

In some embodiments, the implementation principle of S202 may refer to step S101 and is not described herein again.

And S203, if the distance information of the continuously specified number is greater than the target safety distance, triggering the unmanned equipment to start autonomous return flight.

For example, the specified number is 3, and if 3 pieces of continuously acquired distance information are all larger than the target position information, a return flight instruction is sent to the unmanned equipment to trigger the unmanned equipment to return flight. In addition, the user can also actively create a return flight instruction and send the return flight instruction to the unmanned equipment when the remote control equipment displays the safety operation prompt so as to trigger the return flight of the unmanned equipment.

Since the main purpose of the step S103 is to ensure safe operation of the unmanned aerial vehicle, if the unmanned aerial vehicle does not start operation, the operation efficiency of the unmanned aerial vehicle is directly affected if the unmanned aerial vehicle is directly recalled (for example, before the unmanned aerial vehicle does not reach the operation starting point, return trip is triggered due to the fact that the unmanned aerial vehicle accidentally exceeds the corresponding target safe distance during flight). In order to determine a balance point between the work efficiency and the control safety, in some embodiments, the step S103 may be: and if the detected distance information exceeds the corresponding target safety distance before the unmanned equipment does not start the operation, not sending an operation related instruction to the unmanned equipment until the detected distance information does not exceed the corresponding target safety distance. And if the distance information detected in the operation process of the unmanned equipment exceeds the corresponding target safety distance, controlling the unmanned equipment to hover, return and the like.

In fact, the target safe distance is not a fixed value, and the safe working range of the unmanned equipment is different under different working scenes. Therefore, in order to improve the applicability of the target safe distance to the work scene, as shown in fig. 9, the above-mentioned unmanned aerial vehicle control method further includes:

step S301, identifying a corresponding operation scene according to the operation environment image which carries the unmanned equipment identification and is transmitted back by the unmanned equipment.

The working environment image may be an image including a working object acquired by an unmanned device, and the working environment corresponding to the working environment image may be determined in an image recognition manner, for example, a mountain environment, a hill environment, and a forest environment.

The above-mentioned unmanned equipment identifier may help the remote control device to query a model corresponding to the unmanned equipment, for example, the model may be a small load type or a large load type.

In some embodiments, the operation scenes corresponding to different operation environments and unmanned devices of different models can be preset, and then the current corresponding operation scene is identified by using the correspondence relationship.

Step S302, according to the corresponding relation between the different pre-selected operation scenes and the safety distance, inquiring the corresponding target safety distance so as to compare the target safety distance with the obtained distance information.

In addition, in other embodiments, due to the complex working environment, different terrain environments exist even in the same working scene. In order to cope with complex working environments, corresponding safety distances can be set for different grid areas in the same working scene. In this way, after the unmanned equipment is judged to perform operation in the target operation scene, the safety distances corresponding to the multiple grid areas in the target operation scene are obtained, so that the corresponding target safety distances can be obtained by judging the grid areas to which the unmanned equipment belongs, and the corresponding target safety distances are compared with the obtained distance information.

The available network not only can be used for the remote control device to send instructions to the unmanned device, but also can be used for the unmanned device to transmit data back to the remote control device. In some embodiments, the above-mentioned unmanned aerial vehicle control method further comprises:

and receiving the equipment operation state information fed back by the unmanned equipment by utilizing the available network so as to be displayed to the user.

For example, when the unmanned aerial vehicle performs a plot plant protection task, state information (battery information, dosage information, etc.), operation information (flight speed information, altitude information), and abnormal information (such as low battery level, etc.) of the unmanned aerial vehicle need to be transmitted back to the control terminal. Thereby facilitating the user to make decisions regarding the next control of the drone.

In order to execute the corresponding steps in the above embodiments and various possible manners, an implementation manner of the unattended device control apparatus 500 is given below, and optionally, the unattended device control apparatus 500 may adopt the device structure of the electronic device 100 shown in fig. 2. Further, referring to fig. 10, fig. 10 is a functional block diagram of an unmanned aerial vehicle control apparatus 500 according to an embodiment of the present invention, which is applied to a remote control device. It should be noted that the basic principle and the generated technical effect of the unmanned aerial vehicle control device 500 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The unmanned aerial vehicle control device 500 includes: an acquisition module 501 and a control module 502.

An obtaining module 501, configured to obtain distance information with the unmanned device.

In some embodiments, the step S101 may be performed by the obtaining module 501.

A control module 502, configured to remotely control the unmanned device to perform work using an available network when the distance information does not exceed the corresponding target safety distance.

In some embodiments, the step S102 may be performed by the control module 502.

The control module 502 is further configured to suspend controlling the unmanned device to perform work when the distance information exceeds the corresponding target safety distance.

In some embodiments, the step S103 may be performed by the control module 502.

Referring to fig. 11, fig. 11 is a flowchart illustrating an unmanned aerial vehicle control method according to an embodiment of the present invention. The unmanned equipment control method is applied to the unmanned equipment. As shown in fig. 11, the above-mentioned unmanned aerial vehicle control method may include the steps of:

step S401, in response to the position information sent by the remote control device, the distance information between the remote control device and the remote control device is evaluated.

It is understood that the principle of step S401 is similar to that of step S101, except that the current position information is sent to the unmanned device before the remote control device needs to start the job control on the unmanned device, so that the unmanned device calculates the distance information between the two devices by combining the position information of the unmanned device itself.

Of course, the remote control device may periodically transmit the position information to the unmanned device after receiving an instruction that the operation control of the unmanned device is required. The remote control device may also send the currently acquired position information to the drone once before the drone needs to send a job control instruction every time.

And step S402, under the condition that the distance information does not exceed the corresponding target safety distance, performing the operation based on the operation control instruction sent by the remote control equipment.

In some embodiments, the principle of step S402 is the same as that of step S102, and is not described herein again.

And step S403, suspending the operation and feeding back a safety operation prompt to the remote control equipment under the condition that the distance information exceeds the corresponding target safety distance.

In some embodiments, the principle of step S403 is the same as step S103, and is not described herein again.

Rejection of a job outside the safe range is achieved from the unmanned equipment side by step S401 in cooperation with step S403. In this way, the operation of the unmanned equipment in the safety range is ensured from the remote control equipment side in cooperation with step S103, and the safety of the operation of the remote control unmanned equipment is comprehensively improved.

In order to execute the corresponding steps in the above embodiments and various possible manners, an implementation manner of the unattended device control apparatus 600 is given below, and optionally, the unattended device control apparatus 600 may adopt the device structure of the electronic device 100 shown in fig. 2. Further, referring to fig. 12, fig. 12 is a functional block diagram of an unmanned aerial vehicle control apparatus 600 according to an embodiment of the present invention, which is applied to an unmanned aerial vehicle. It should be noted that the basic principle and the generated technical effect of the unmanned aerial vehicle control device 600 provided by the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The unmanned aerial vehicle control device 600 includes: an evaluation module 601 and a processing module 602.

The evaluation module 601 is configured to evaluate distance information with a remote control device in response to the location information sent by the remote control device.

A processing module 602, configured to perform a job based on a job control instruction sent by the remote control device when the distance information does not exceed the corresponding target safety distance.

The processing module 602 is further configured to suspend the job and feed back a safety job reminder to the remote control device when the distance information exceeds the corresponding target safety distance.

Alternatively, the modules may be stored in the memory 110 shown in fig. 2 in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the electronic device 100, and may be executed by the processor 120 in fig. 2. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory 110.

In summary, the embodiments of the present invention provide an unmanned device control method and a related apparatus. The unmanned equipment control method comprises the steps of obtaining distance information between the unmanned equipment and the unmanned equipment; under the condition that the distance information does not exceed the corresponding target safety distance, remotely controlling the unmanned equipment to operate by using an available network; and when the distance information exceeds the corresponding target safety distance, suspending controlling the unmanned equipment to perform operation. And judging whether the controlled operation of the unmanned equipment has potential safety hazards or not by utilizing the distance information between the unmanned equipment and the target safety distance in cooperation. When the potential safety hazard does not exist, the unmanned equipment is normally remotely controlled to operate, and when the potential safety hazard exists, the unmanned equipment is controlled to operate in a suspended mode, so that the operation safety of the unmanned equipment is guaranteed.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned equipment control method is applied to remote control equipment, and comprises the following steps:

acquiring distance information between the unmanned equipment and the unmanned equipment;

under the condition that the distance information does not exceed the corresponding target safety distance, controlling the unmanned equipment to operate by using an available network;

and when the distance information exceeds the corresponding target safety distance, suspending controlling the unmanned equipment to perform operation.

2. The unmanned aerial vehicle control method of claim 1, wherein the available network comprises a mobile communication network, and the step of remotely controlling the unmanned aerial vehicle to perform the job using the available network comprises:

acquiring flight height information of each waypoint in an operation route;

determining at least one group of first waypoint pairs from the waypoints; wherein the first waypoint pair comprises a first waypoint and a second waypoint that are adjacent on the operating route; the flight height information corresponding to the first waypoint and the second waypoint exceeds a preset value;

acquiring a first navigation line segment corresponding to the first navigation point pair;

and under the condition that the unmanned equipment is detected to enter the first route segment, the unmanned equipment is remotely controlled by the mobile communication network to operate.

3. The unmanned aerial vehicle control method of claim 1 or 2, wherein the available network comprises a local area network, and the step of remotely controlling the unmanned aerial vehicle to perform the work using the available network comprises:

acquiring flight height information of each waypoint in an operation route;

determining at least one group of second waypoint pairs from the waypoints; wherein the second waypoint pair comprises a third waypoint and a fourth waypoint that are adjacent on the operating route; the flight height information corresponding to the third waypoint and the fourth waypoint does not exceed a preset value;

acquiring a second navigation line segment corresponding to the second navigation point pair;

and under the condition that the unmanned equipment is detected to enter the second route segment, the local area network is used for remotely controlling the unmanned equipment to operate.

4. The unmanned aerial vehicle control method of claim 1, wherein the available network comprises a mobile communication network and a local area network, and the step of remotely controlling the unmanned aerial vehicle to perform the task using the available network comprises:

evaluating communication quality factors of the mobile communication network and the local area network;

if the communication quality factor of the mobile communication network is higher than that of the local area network, remotely controlling the unmanned equipment to operate by adopting the mobile communication network;

and if the communication quality factor of the mobile communication network is not higher than the communication quality factor of the local area network, remotely controlling the unmanned equipment by using the local area network to operate.

5. The drone controlling method according to claim 4, wherein the step of evaluating the communication quality factors of the mobile communication network and the local area network comprises:

respectively testing the average network speed, the network speed difference value and the signal intensity corresponding to the mobile communication network and the local area network;

calculating the communication quality factor corresponding to the mobile communication network according to one or a combination of average network speed, network speed difference and signal strength corresponding to the mobile communication network;

and calculating the communication quality factor corresponding to the local area network according to one or a combination of the average network speed, the network speed difference and the signal strength corresponding to the local area network.

6. The unmanned aerial vehicle control method of claim 1, wherein after suspending control of the unmanned aerial vehicle for a job, the method further comprises:

carrying out safety operation reminding corresponding to the unmanned equipment;

periodically acquiring distance information with the unmanned equipment;

and if the distance information of the continuously specified number is greater than the target safety distance, triggering the unmanned equipment to start autonomous return flight.

7. The unmanned equipment control method of claim 1, further comprising:

identifying a corresponding operation scene according to an operation environment image which is transmitted back by the unmanned equipment and carries the unmanned equipment identification;

and inquiring the corresponding target safety distance according to the corresponding relation between the different preset operation scenes and the safety distance so as to compare the target safety distance with the obtained distance information.

8. The unmanned aerial vehicle control method of claim 1, wherein the step of obtaining distance information with the unmanned aerial vehicle comprises:

responding to a job control instruction triggered by a user, and acquiring the position information of the unmanned equipment and the position information of the remote control equipment;

and calculating the corresponding distance information according to the position information of the unmanned equipment and the position information of the remote control equipment.

9. The unmanned equipment control method of claim 1, further comprising:

and receiving the equipment operation state information fed back by the unmanned equipment by utilizing the available network so as to be displayed to a user.

10. An unmanned equipment control method is applied to unmanned equipment, and the unmanned equipment control method comprises the following steps:

evaluating distance information between the remote control device and the remote control device in response to the position information sent by the remote control device;

under the condition that the distance information does not exceed the corresponding target safety distance, performing operation based on an operation control instruction sent by the remote control equipment;

and under the condition that the distance information exceeds the corresponding target safety distance, suspending operation and feeding back a safety operation prompt to the remote control equipment.

11. An unmanned aerial device control apparatus, characterized in that, be applied to remote control equipment, the unmanned aerial device control apparatus includes:

the acquisition module is used for acquiring distance information between the unmanned equipment and the acquisition module;

the control module is used for remotely controlling the unmanned equipment to operate by utilizing an available network under the condition that the distance information does not exceed the corresponding target safety distance;

the control module is further used for suspending controlling the unmanned equipment to perform operation under the condition that the distance information exceeds the corresponding target safety distance.

12. An unmanned aerial vehicle control apparatus, characterized in that, be applied to unmanned aerial vehicle, the unmanned aerial vehicle control apparatus includes:

the evaluation module is used for responding to the position information sent by the remote control equipment and evaluating the distance information between the remote control equipment and the evaluation module;

the processing module is used for carrying out operation based on an operation control instruction sent by the remote control equipment under the condition that the distance information does not exceed the corresponding target safety distance;

the processing module is further configured to suspend the operation and feed back a safety operation prompt to the remote control device when the distance information exceeds the corresponding target safety distance.

13. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method of any one of claims 1 to 10.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-10.