CN113064451B - Unmanned equipment control method and device, storage medium and electronic equipment - Google Patents
Unmanned equipment control method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The embodiment of the specification judges whether an abnormality occurs when a first unmanned device executes a task according to a monitored motion state of the first unmanned device in the process that the first unmanned device executes the task according to a pre-planned path. And if the first unmanned equipment is abnormal when executing the task, scheduling the second unmanned equipment to carry out environmental survey. Based on the survey results, a path may be re-planned for the first drone and the first drone may be controlled to perform tasks according to the re-planned path. In this method, when the task performed by the first unmanned device is abnormal, that is, when the task performed by the unmanned device encounters a special situation such as traffic jam, a passable path can be planned for the first unmanned device again with the assistance of the second unmanned device. This can improve the efficiency of unmanned equipment delivery.
Description
Technical Field
The present disclosure relates to the field of automatic driving, and in particular, to a method and an apparatus for controlling an unmanned aerial vehicle, a storage medium, and an electronic device.
Background
With the development of automatic driving technology, more and more unmanned devices are applied to the distribution industry.
In the prior art, before the unmanned device executes the delivery task, the unmanned device may be subjected to path planning according to a start position and an end position of the delivery task, so as to control the unmanned device to execute the delivery task according to the planned path.
However, the unmanned facility can only travel along the planned route during the process of executing the distribution task, and in this case, if special situations such as traffic jam and traffic accident occur, the distribution efficiency of the unmanned facility is reduced.
Disclosure of Invention
The embodiments of the present specification provide an unmanned device control method, an unmanned device control apparatus, a storage medium, and an electronic device, so as to partially solve the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the present specification provides an unmanned device control method, including:
monitoring a motion state of the first unmanned equipment when the first unmanned equipment executes a task according to a pre-planned path;
judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the motion state;
if the first unmanned equipment is abnormal when executing the task, scheduling second unmanned equipment to carry out environmental survey;
replanning a path for the first unmanned device based on results of the environmental survey;
and controlling the first unmanned equipment to execute the task according to the re-planned path.
Optionally, the first drone comprises: unmanned vehicles; the second drone includes: unmanned aerial vehicle.
Optionally, according to the motion state, determining whether an abnormality occurs when the first unmanned device executes the task includes:
judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the movement speed of the first unmanned equipment;
and if the movement speed of the first unmanned equipment is continuously smaller than a speed threshold value within a preset time length, determining that the first unmanned equipment is abnormal when the first unmanned equipment executes the task.
Optionally, scheduling the second unmanned device for environmental survey specifically comprises:
monitoring the motion trail of a second unmanned device executing other delivery tasks;
and scheduling the second unmanned equipment in the first preset range to carry out environmental survey according to the motion track and the first preset range around the first unmanned equipment.
Optionally, the drone comprises: the unmanned aerial vehicle is currently borne by the unmanned aerial vehicle;
scheduling a second drone for environmental survey, including:
and dispatching the unmanned aerial vehicle currently borne by the unmanned aerial vehicle to carry out environment survey on the environment in a first preset range around the unmanned aerial vehicle to obtain first road information.
Optionally, the drone further comprises: other unmanned aerial vehicles except the unmanned aerial vehicle currently carried by the unmanned aerial vehicle;
the method further comprises the following steps:
if no passable path information exists in the first road information, scheduling the other unmanned aerial vehicles to carry out environmental survey on the environment in a second preset range around the unmanned aerial vehicle to obtain second road information;
wherein the second preset range is larger than the first preset range.
Optionally, the method further comprises:
and if no passable path information exists in the second road information, scheduling the unmanned aerial vehicle to execute the task.
Optionally, the method further comprises:
judging whether a trigger condition is met according to the current position of the first unmanned equipment;
if the triggering condition is met, scheduling the second unmanned equipment to survey the traffic identification in a third preset range around the current position;
and determining a control strategy of the first unmanned equipment according to the survey result, and controlling the first unmanned equipment by adopting the determined control strategy.
The present specification provides an unmanned equipment control device, including:
the monitoring module is used for monitoring the motion state of the first unmanned equipment when the first unmanned equipment executes a task according to a pre-planned path;
the judging module is used for judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the motion state;
the scheduling module is used for scheduling second unmanned equipment to carry out environmental survey if the first unmanned equipment is abnormal when executing the task;
a re-planning path module for re-planning a path for the first unmanned device based on results of the environmental survey;
and the control module is used for controlling the first unmanned equipment to execute the task according to the re-planned path.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned aerial device control method.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned unmanned device method when executing the program.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
in the embodiment of the present description, in the process that the first unmanned device executes the task according to the pre-planned path, whether an abnormality occurs when the first unmanned device executes the task is determined according to the monitored motion state of the first unmanned device. And if the first unmanned equipment is abnormal when executing the task, scheduling the second unmanned equipment to carry out environmental survey. Based on the survey results, a path may be re-planned for the first drone and the first drone may be controlled to perform tasks according to the re-planned path. In this method, when the task performed by the first unmanned device is abnormal, that is, when the task performed by the unmanned device encounters a special situation such as traffic jam, a passable path can be planned for the first unmanned device again with the assistance of the second unmanned device. This can improve the efficiency of unmanned equipment delivery.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flowchart of an unmanned aerial vehicle control method according to an embodiment of the present disclosure;
fig. 2a is a schematic structural diagram of an unmanned aerial vehicle located inside an unmanned vehicle according to a first embodiment of the present description;
fig. 2b is a schematic structural diagram of the unmanned aerial vehicle located on the top of the unmanned vehicle according to the first embodiment of the present disclosure;
fig. 3 is a schematic view of a scene of an unmanned aerial vehicle dispatching drone provided in an embodiment of the present specification;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle control apparatus provided in an embodiment of the present specification;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of this specification.
Detailed Description
In the prior art, a single type of unmanned device is typically used to perform the delivery tasks. Taking an unmanned vehicle as an example, when the unmanned vehicle executes a distribution task, the unmanned vehicle can only drive according to a pre-planned path and cannot change the planned driving path. Thus, when the unmanned vehicle runs according to the pre-planned route, special situations such as traffic jam, traffic accidents, road repair and the like may be encountered. In these special cases, the efficiency of the distribution of the unmanned vehicles is reduced.
The unmanned equipment control method provided by the specification can adopt various types of unmanned equipment to cooperatively execute the same distribution task. Taking unmanned vehicles and unmanned aerial vehicles as an example, when unmanned vehicles execute distribution tasks according to a pre-planned route, special situations such as traffic jam can be met, however, unmanned aerial vehicles can be scheduled to survey road conditions around the unmanned vehicles in the specification, and a route which can be passed is found for the unmanned vehicles, so that influence of the road conditions on distribution of the unmanned vehicles is reduced, and distribution efficiency of the unmanned vehicles is improved.
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
The first embodiment is as follows:
fig. 1 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present disclosure, where the method includes:
s100: monitoring a motion state of the first unmanned device when the first unmanned device executes a task according to a pre-planned path.
In the first embodiment of the present specification, the method for controlling an unmanned aerial device shown in fig. 1 may be applied to a server that controls the unmanned aerial device, and may also be applied to the unmanned aerial device. When the unmanned device control method shown in fig. 1 is applied, communication may be established between different unmanned devices, communication may also be established between an unmanned device and a server that controls the unmanned device, and different unmanned devices and a server that controls the unmanned device may also form a communication network.
In a first embodiment of this specification, the unmanned aerial vehicle in this specification may include unmanned vehicle and unmanned aerial vehicle, and the unmanned aerial vehicle may be used in the logistics distribution field, and include both the immediate distribution fields such as takeaway, delivery, and other non-immediate distribution fields. Wherein, first unmanned aerial vehicle can be referred to the first unmanned aerial vehicle, and the second unmanned aerial vehicle can refer to unmanned aerial vehicle to the second unmanned aerial vehicle can dock in first unmanned aerial vehicle. The correspondence relationship between the first and second unmanned devices may be one-to-one or one-to-many. That is, one of the cases is: for each first drone, only a fixed second drone may dock on the first drone. The other situation is that: for each first drone, any second drone may dock with the first drone.
In addition, information acquisition equipment such as a laser radar and a camera is installed in unmanned equipment in the specification. Next, the unmanned aerial vehicle control method shown in fig. 1 will be described by taking an unmanned vehicle and an unmanned aerial vehicle as examples.
In the first embodiment of the present specification, a driving path may be planned for the unmanned vehicle as a pre-planned path according to a start position and an end position of a delivery task that the unmanned vehicle needs to execute. And then, when the unmanned vehicle executes a distribution task, controlling the unmanned vehicle to run according to a pre-planned path, and monitoring the motion state of the unmanned vehicle in the running process. Wherein the motion state may include: position, speed of movement, etc.
Specifically, when the unmanned vehicle receives the distribution task, the environment identifier marked on the map can be updated according to the environment information currently acquired by other unmanned vehicles and other unmanned vehicles. And then planning a path for the unmanned vehicle according to the updated environment identifier, the starting position of the delivery task and the end position of the delivery task. Wherein, the environment information may include: road information and traffic signs, etc. The environment identification may include identification of traffic congestion, traffic accidents, road repair, and the like. For example, a certain road segment is marked as a traffic jam road segment.
Further, the path planned in advance for the unmanned vehicle only considers the road condition when the unmanned vehicle receives the delivery task, and the road condition changes in real time during the delivery task execution process of the unmanned vehicle, so that the motion state of the unmanned vehicle needs to be monitored to avoid road congestion and other situations.
S102: and judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the motion state.
In the first embodiment of the present specification, it may be determined whether an abnormality occurs when the unmanned vehicle executes a delivery task according to the monitored movement speed of the unmanned vehicle. Specifically, the speed threshold of the unmanned vehicle, that is, the average speed of executing the delivery task, may be determined according to the delivery duration of the unmanned vehicle executing the delivery task and the delivery distance corresponding to the delivery task. Such as: the delivery time length for the first unmanned device to perform the delivery task is 30min, the delivery distance is 3km, and then the speed threshold of the first unmanned device is 100 m/min.
Further, in the process that the unmanned vehicle executes the distribution tasks according to the pre-planned path, if the movement speed of the unmanned vehicle is continuously smaller than the speed threshold value within the preset time length, it is determined that the unmanned vehicle is abnormal when executing the distribution tasks. That is, an abnormality occurs in a path traveled by the unmanned vehicle for a certain period of time, resulting in the movement speed of the unmanned vehicle continuing to be less than the speed threshold. The abnormal condition of the running route may be traffic jam, traffic accident, road repair and the like.
Such as: the speed threshold is 1km/h, the first drone is at 10: 00-10: 03 are all less than 1km/h, it can be determined that the first drone is operating at 10: 00-10: 03 may be in a congested state.
In addition, when the movement speed of the unmanned vehicle does not exist for a period of time less than the speed threshold value, the traffic of the pre-planned path can be determined to be relatively smooth, and the distribution task can be completed on time.
S104: and if the first unmanned equipment is abnormal when executing the task, scheduling second unmanned equipment to carry out environmental survey.
S106: replanning a path for the first unmanned device based on results of the environmental survey.
In the first embodiment of the present specification, in the case where an abnormality occurs when the unmanned vehicle performs the delivery task in step S102, a problem that the unmanned vehicle is delivered for a time-out may occur. Therefore, in order to avoid the problem of delivery overtime, the driving path of the unmanned vehicle can be changed.
Specifically, when it is determined that the unmanned vehicle performs the distribution task and is abnormal, the environmental information around the unmanned vehicle may be collected by an information collecting device installed in the unmanned vehicle. Because the unmanned vehicles can only collect the environmental information in a small range, the unmanned vehicles are assisted by the unmanned vehicles which are not influenced by ground road traffic in the scheduling process to carry out environmental survey. In other words, the range of collecting the environmental information can be expanded by the drone.
Further, when dispatching unmanned aerial vehicle, survey efficiency for improving the environment, can dispatch unmanned aerial vehicle that unmanned aerial vehicle bore at present earlier, carry out the environmental survey to the environment of first predetermined within range around the unmanned vehicle through unmanned aerial vehicle that unmanned aerial vehicle bore at present, obtain first road information. The road information may refer to information representing a road condition, such as a road image.
The unmanned aerial vehicle that unmanned aerial vehicle carried at present can indicate the unmanned aerial vehicle who parks on the built-in shut down frame of unmanned vehicle automobile body, also can indicate the unmanned aerial vehicle who parks in the air park of unmanned vehicle roof portion. As shown in FIGS. 2 a-2 b. And the unmanned aerial vehicle parked at the top of the unmanned aerial vehicle can be fixed by adopting a fixing frame.
The unmanned vehicle in fig. 2a has two channels, channel 1 and channel 2. The roof of the unmanned vehicle in fig. 2b has two ramps, ramp 1 and ramp 2 respectively.
When unmanned aerial vehicle berthed inside unmanned vehicle, unmanned vehicle can establish the communication with the unmanned aerial vehicle that bears at present earlier, then, unmanned vehicle when opening the passageway on unmanned vehicle roof, with unmanned vehicle's shut down frame rise to unmanned aerial vehicle receives the instruction back of taking off that unmanned vehicle sent, takes off the operation, and survey the instruction according to the environment that unmanned vehicle sent, carry out environmental survey in unmanned vehicle and unmanned vehicle's communication range. Wherein the communication range may be a first preset range.
When unmanned aerial vehicle berthed at unmanned vehicle roof, unmanned vehicle can establish communication unmanned vehicle with the unmanned aerial vehicle that bears at present earlier. Then, the fixing frame is loosened by the unmanned aerial vehicle, and a take-off instruction and an environment surveying instruction are sent to the unmanned aerial vehicle. After the unmanned aerial vehicle receives the takeoff instruction and the environment surveying instruction, environment surveying is carried out in the communication range between the unmanned vehicle and the unmanned vehicle.
In addition, the server for controlling the unmanned equipment can also schedule the unmanned aerial vehicle currently borne by the unmanned vehicle to carry out environmental survey within a first preset range according to the position of each unmanned equipment.
And judging whether the first road information contains the passable path information or not according to the surveyed first road information. When the first road information includes the passable path information, the passable path which can execute the delivery task and is not overtime can be planned for the unmanned vehicle again according to the passable path and the latest time when the unmanned vehicle completes the delivery task.
S108: and controlling the first unmanned equipment to execute the task according to the re-planned path.
In the first embodiment of the present specification, after the route is re-planned for the unmanned vehicle through the step S106, the unmanned vehicle may be controlled to execute the delivery task according to the re-planned passable route. In the subsequent process of executing the distribution task, the steps S100 to S106 can be repeated to avoid traffic jam and other situations, so that the distribution efficiency of the unmanned equipment is improved.
As can be seen from the method shown in fig. 1, in the process that the first unmanned device executes the task according to the pre-planned path, the present specification determines whether an abnormality occurs when the first unmanned device executes the task according to the monitored motion state of the first unmanned device. And if the first unmanned equipment is abnormal when executing the task, scheduling the second unmanned equipment to carry out environmental survey. Based on the survey results, a path may be re-planned for the first drone and the first drone may be controlled to perform tasks according to the re-planned path. In this method, when the first unmanned device performs a task abnormally, that is, when the unmanned device performs the task and encounters a special situation such as traffic jam, a passable path may be planned for the first unmanned device again. This can improve the efficiency of unmanned equipment delivery.
Further, in step S104 shown in fig. 1, in addition to the drone currently carried by the drone vehicle, other drone may be scheduled besides the drone currently carried by the drone vehicle.
Specifically, the movement locus of the unmanned aerial vehicle executing other delivery tasks can be monitored first, then, according to the monitored movement locus, the unmanned aerial vehicle in a first preset range around the unmanned aerial vehicle is selected from the unmanned aerial vehicles executing other delivery tasks, and the unmanned aerial vehicles executing other delivery tasks in the first preset range can be scheduled to carry out environmental survey.
Further, when a plurality of unmanned aerial vehicles exist in a first preset range around the unmanned aerial vehicle, the unmanned aerial vehicle with longer endurance time can be scheduled to carry out environmental survey.
After surveying the environment in a first preset range around the unmanned vehicle, judging whether the first road information contains passable path information or not according to the surveyed first road information. When no passable path information exists in the first road information, in order to increase the probability of finding passable path information, the collection range of the road information can be expanded.
Specifically, when no passable path information exists in the first road information, other unmanned aerial vehicles outside the first preset range can be scheduled to survey the environment around the unmanned aerial vehicle within the second preset range, and the second road information is obtained. The second preset range is larger than the first preset range because the collection range of the road information is expanded. Wherein, other unmanned aerial vehicles can be no-load unmanned aerial vehicle, also can be the unmanned aerial vehicle of carrying out other delivery tasks.
And a scene of scheduling the drones in different preset ranges is shown in fig. 3. In fig. 3, the drone 1 is a drone within a first preset range, and the drone 1 may be a drone currently carried by an unmanned vehicle, and may also be a drone performing other delivery tasks. And the drones 2 are other drones outside the first preset range. And the drone 2 may be a drone performing other delivery tasks, and may also be an empty drone.
Further, the positions of all unmanned devices (unmanned aerial vehicles and unmanned vehicles) can be monitored through a server for controlling the unmanned devices, and the unmanned aerial vehicles (including unmanned aerial vehicles and no-load unmanned aerial vehicles for executing other delivery tasks) in a second preset range around the unmanned vehicles are screened out according to the current positions of the unmanned vehicles and the current positions of the unmanned aerial vehicles. Then, the screened unmanned aerial vehicles can be scheduled to survey the environment in a second preset range around the unmanned vehicles, and second road information is obtained.
In addition, other unmanned vehicles may be scheduled to survey the environment within a second predetermined range around the unmanned vehicle. Specifically, for each unmanned vehicle, the unmanned vehicles in the second preset range around the unmanned vehicle can be screened out according to the current position of the unmanned vehicle and the current positions of other unmanned vehicles. And then, dispatching the unmanned vehicles which do not execute the distribution tasks in the screened unmanned vehicles to survey the environment in a second preset range around the unmanned vehicles to obtain second road information.
And judging whether the second road information has the passable path information or not according to the second road information. If the passable route information exists, a passable route which is not overtime can be newly planned for the unmanned vehicle according to the passable route and the latest time when the unmanned vehicle completes the distribution task. In addition, when there are a plurality of traversable routes that do not time out, a route that takes the least time or has the shortest delivery distance can be selected from the plurality of routes.
If no passable path information exists in the first road information and the second road information, the unmanned aerial vehicle can be scheduled to take over the delivery task of the unmanned vehicle.
When the unmanned aerial vehicle taking over the unmanned vehicle delivery task is scheduled, the unmanned aerial vehicle closest to the unmanned vehicle can be scheduled, and the unmanned aerial vehicle with the longest endurance time can also be scheduled.
Specifically, after the unmanned vehicle establishes communication with the designated unmanned aerial vehicle, the unmanned vehicle can send the current position of the unmanned vehicle and the end position of the distribution task to the designated unmanned aerial vehicle, and the designated unmanned aerial vehicle approaches the unmanned vehicle according to the current position of the unmanned vehicle. The unmanned aerial vehicle can autonomously obtain a delivery task from the unmanned aerial vehicle and deliver the delivery task. In addition, when unmanned aerial vehicle can't acquire the delivery task voluntarily, unmanned vehicle need send self current position to the staff to seek staff's help. After the staff arrives at the current position of the unmanned vehicle, the distribution tasks on the unmanned vehicle are transferred to the designated unmanned vehicle.
Of course, the unmanned aerial vehicle can take over the distribution task of the unmanned vehicle, and the distributor can take over the distribution task of the unmanned vehicle.
Specifically, for each delivery person, it may be determined whether a delivery job identical to the end point position of the delivery job executed by the unmanned vehicle exists among the delivery jobs executed by the delivery person, and if so, the delivery person may be instructed to execute the delivery job of the unmanned vehicle. If not, a deliverer suitable for performing a delivery task of the unmanned vehicle may be selected from the plurality of deliverers based on the position of the deliverer, the position of the unmanned vehicle, and the delivery amount of the deliverer.
After determining the delivery person, the current position of the unmanned vehicle can be sent to the designated delivery person, and after the delivery person arrives at the position of the unmanned vehicle, the delivery task is obtained from the unmanned vehicle and delivered.
In step S104 shown in fig. 1, for each first drone, after scheduling a second drone around the first drone for an environmental survey, first road information and second road information around the first drone may also be acquired. And then, updating the environment identifier on the map in real time according to the first road information and the second road information so as to facilitate other first unmanned equipment to carry out path planning.
In this specification, the cooperation of unmanned vehicles and unmanned aerial vehicles not only can solve the problem of the distribution efficiency decline that road congestion brought in embodiment one, but also can be applied to other scenes to solve different technical problems. Therefore, in the second embodiment of the present specification, a trajectory of the unmanned device may be planned, and the unmanned device may move according to the planned trajectory.
Example two:
in the second embodiment of the present specification, during the delivery task performed by the first drone, the second drone may be scheduled to conduct a traffic sign survey to determine the control strategy of the first drone. Wherein, first unmanned equipment can be unmanned vehicle, and the second unmanned equipment can be unmanned aerial vehicle.
Specifically, an abnormal traffic identifier may be marked on the map according to traffic identifier data historically collected by the first drone. And determining a trigger condition according to the position of the abnormal traffic identifier and the abnormal time period. The traffic sign may be a traffic light, a lane line, or the like, and the abnormal traffic sign may be a traffic sign that cannot be accurately recognized by the first unmanned device, such as a traffic sign collected in a backlight.
For example: for a certain traffic light on a certain road section, the traffic light information cannot be accurately identified by the images of the traffic light collected by different first unmanned equipment when the first unmanned equipment passes through the traffic light at 4-5 pm (under the condition of backlight). Then the traffic lights therein may be labeled on the map as anomalous traffic lights and associated time periods.
When the first unmanned device executes the distribution task, whether the trigger condition is satisfied can be judged according to the current position and the current moment of the first unmanned device. That is, whether the first drone is within a third preset range of the abnormal traffic sign and/or whether the first drone is within a preset time period at the present time. And if the triggering condition is met, scheduling the second unmanned equipment to survey the traffic marks in a third preset range around the first unmanned equipment. And sending the survey result of the second unmanned equipment to the first unmanned equipment or a server for controlling the unmanned equipment, then determining the control strategy of the first unmanned equipment by the first unmanned equipment or the server for controlling the unmanned equipment according to the survey result, and controlling the first unmanned equipment by adopting the determined control strategy. Wherein, the control strategy can comprise: straight, left turn, right turn, acceleration, deceleration, etc.
Taking the traffic lights as an example, when the distance between the position of the unmanned vehicle and the position of the traffic light with abnormal labeling meets a third preset range and the current time of the unmanned vehicle is in the time period when the traffic light is abnormal, the unmanned vehicle can be scheduled to survey the traffic light with abnormal labeling. According to the state of the traffic light, the unmanned vehicle can be controlled to move.
In addition, the triggering condition can be determined according to whether the traffic sign is shielded or not. Specifically, in the process of executing the distribution task by the first unmanned device, whether the traffic sign in the third preset range around the first unmanned device is shielded or not can be judged according to the environmental information acquired by the information acquisition device installed in the first unmanned device. If the blocking phenomenon exists (if the triggering condition is met), the second unmanned device can be scheduled to carry out survey on the traffic signs in a third preset range around the first unmanned device. And sending the survey result of the second unmanned equipment to the first unmanned equipment or a server for controlling the unmanned equipment, then determining the control strategy of the first unmanned equipment by the first unmanned equipment or the server for controlling the unmanned equipment according to the survey result, and controlling the first unmanned equipment by adopting the determined control strategy.
Based on the same idea, the present specification further provides a corresponding apparatus, a storage medium, and an electronic device.
Fig. 4 is a schematic structural diagram of an unmanned equipment control apparatus provided in an embodiment of the present specification, where the apparatus includes:
a monitoring module 401, configured to monitor a motion state of the first unmanned device when executing a task according to a pre-planned path;
a determining module 402, configured to determine whether an abnormality occurs when the first unmanned device executes the task according to the motion state;
a scheduling module 403, configured to schedule a second drone to perform environmental survey if the first drone is abnormal when executing the task;
a re-planning path module 404 for re-planning a path for the first unmanned device based on results of the environmental survey;
a control module 405, configured to control the first unmanned device to execute the task according to the re-planned path.
Optionally, the first drone comprises: unmanned vehicles; the second drone includes: unmanned aerial vehicle.
Optionally, the determining module 402 is specifically configured to determine whether an abnormality occurs when the first unmanned device executes the task according to the movement speed of the first unmanned device; and if the movement speed of the first unmanned equipment is continuously smaller than a speed threshold value within a preset time length, determining that the first unmanned equipment is abnormal when the first unmanned equipment executes the task.
Optionally, the scheduling module 403 is specifically configured to monitor a motion trajectory of a second unmanned device that executes other delivery tasks; and scheduling the second unmanned equipment in the first preset range to carry out environmental survey according to the motion track and the first preset range around the first unmanned equipment.
Optionally, the drone comprises: unmanned aerial vehicle that unmanned aerial vehicle born at present.
Optionally, the scheduling module 403 is specifically configured to schedule the unmanned aerial vehicle currently carried by the unmanned aerial vehicle to perform environmental survey on an environment in a first preset range around the unmanned aerial vehicle, so as to obtain first road information.
Optionally, the drone further comprises: other drones than the drone currently carried by the drone vehicle.
Optionally, the scheduling module 403 is further configured to, if there is no passable route information in the first road information, schedule the other unmanned aerial vehicles to perform environmental survey on an environment in a second preset range around the unmanned aerial vehicle, so as to obtain second road information; wherein the second preset range is larger than the first preset range.
Optionally, the scheduling module 403 is further configured to schedule the drone to execute the task if no passable route information exists in the second road information.
Optionally, the control module 405 is further configured to determine whether a trigger condition is met according to the current location of the first unmanned device; if the triggering condition is met, scheduling the second unmanned equipment to survey the traffic identification in a third preset range around the current position; and determining a control strategy of the first unmanned equipment according to the survey result, and controlling the first unmanned equipment by adopting the determined control strategy.
The present specification also provides a computer readable storage medium storing a computer program which, when executed by a processor, is operable to perform the drone controlling method provided in fig. 1 above.
Based on the unmanned device control method shown in fig. 1, an embodiment of this specification further provides a schematic structural diagram of the electronic device shown in fig. 5. As shown in fig. 5, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the above-described unmanned device control method of fig. 1.
Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (6)
1. An unmanned equipment control method, comprising:
monitoring a motion state of a first unmanned device when the first unmanned device executes a delivery task according to a pre-planned path, the first unmanned device comprising: unmanned vehicles;
judging whether the first unmanned equipment is abnormal when executing the distribution task according to the motion state;
if the first unmanned equipment is abnormal when executing the distribution task, scheduling second unmanned equipment to carry out environmental survey, wherein the second unmanned equipment comprises: an unmanned aerial vehicle; wherein, unmanned aerial vehicle includes: the unmanned aerial vehicle currently borne by the unmanned vehicle and other unmanned aerial vehicles except the unmanned aerial vehicle currently borne by the unmanned vehicle;
replanning a path for the first unmanned device based on results of the environmental survey;
controlling the first unmanned equipment to execute the delivery task according to the re-planned path;
scheduling a second drone for environmental survey, including:
scheduling the unmanned aerial vehicle currently carried by the unmanned aerial vehicle to carry out environmental survey on the environment in a first preset range around the unmanned aerial vehicle to obtain first road information;
if no passable path information exists in the first road information, scheduling the other unmanned aerial vehicles to carry out environmental survey on the environment in a second preset range around the unmanned aerial vehicle to obtain second road information; wherein the second preset range is larger than the first preset range;
if no passable path information exists in the second road information, scheduling the unmanned aerial vehicle to execute the delivery task;
scheduling a second drone for environmental survey, including:
monitoring the motion trail of a second unmanned device executing other delivery tasks;
and scheduling the second unmanned equipment in the first preset range to carry out environmental survey according to the motion track and the first preset range around the first unmanned equipment.
2. The method of claim 1, wherein determining whether an abnormality occurs while the first unmanned device is executing the task according to the motion state specifically comprises:
judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the movement speed of the first unmanned equipment;
and if the movement speed of the first unmanned equipment is continuously smaller than a speed threshold value within a preset time length, determining that the first unmanned equipment is abnormal when the first unmanned equipment executes the task.
3. The method of claim 1, wherein the method further comprises:
judging whether a trigger condition is met according to the current position of the first unmanned equipment;
if the triggering condition is met, scheduling the second unmanned equipment to survey the traffic identification in a third preset range around the current position;
and determining a control strategy of the first unmanned equipment according to the survey result, and controlling the first unmanned equipment by adopting the determined control strategy.
4. An unmanned equipment control device, comprising:
a monitoring module, configured to monitor a motion state of a first unmanned device when the first unmanned device executes a task according to a pre-planned path, where the first unmanned device includes: unmanned vehicles;
the judging module is used for judging whether the first unmanned equipment is abnormal or not when the first unmanned equipment executes the task according to the motion state;
a scheduling module, configured to schedule a second drone to perform an environmental survey if the first drone is abnormal when executing the task, where the second drone includes: an unmanned aerial vehicle; wherein, unmanned aerial vehicle includes: the unmanned aerial vehicle currently borne by the unmanned vehicle and other unmanned aerial vehicles except the unmanned aerial vehicle currently borne by the unmanned vehicle;
a re-planning path module for re-planning a path for the first unmanned device based on results of the environmental survey;
a control module for controlling the first unmanned device to execute the task according to the re-planned path;
the scheduling module is specifically used for scheduling the unmanned aerial vehicle currently carried by the unmanned aerial vehicle to carry out environmental survey on the environment in a first preset range around the unmanned aerial vehicle so as to obtain first road information; if no passable path information exists in the first road information, scheduling the other unmanned aerial vehicles to carry out environmental survey on the environment in a second preset range around the unmanned aerial vehicle to obtain second road information; wherein the second preset range is larger than the first preset range; if no passable path information exists in the second road information, scheduling the unmanned aerial vehicle to execute the task;
the scheduling module is specifically used for monitoring the motion track of second unmanned equipment executing other delivery tasks; and scheduling the second unmanned equipment in the first preset range to carry out environmental survey according to the motion track and the first preset range around the first unmanned equipment.
5. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-3.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-3 when executing the program.
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| PCT/CN2021/117408 WO2022252429A1 (en) | 2021-06-02 | 2021-09-09 | Unmanned device control method and apparatus, storage medium, and electronic device |
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