CN113342035A - Unmanned aerial vehicle control method and device and computer equipment - Google Patents
Unmanned aerial vehicle control method and device and computer equipment Download PDFInfo
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- CN113342035A CN113342035A CN202110587032.6A CN202110587032A CN113342035A CN 113342035 A CN113342035 A CN 113342035A CN 202110587032 A CN202110587032 A CN 202110587032A CN 113342035 A CN113342035 A CN 113342035A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application relates to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device and computer equipment. The method is applied to any unmanned aerial vehicle in an environment monitoring system, the environment monitoring system comprises at least two unmanned aerial vehicles, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server. The method of the embodiment of the application can realize real-time detection of atmosphere in real time.
Description
Technical Field
The application relates to the field of surveying and mapping, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device and computer equipment.
Background
Environmental issues are important issues regarding human survival, and environments may include water environments, atmospheric environments, soil environments, and the like.
In order to know the current situation of the environment more accurately, the environment needs to be monitored. The environmental monitoring is to monitor and measure the index reflecting the environmental quality to determine the environmental pollution condition and the environmental quality. The environment monitoring mainly comprises the monitoring of physical indexes, the monitoring of chemical indexes and the monitoring of an ecosystem.
The atmospheric environment monitoring is the most important one in environmental monitoring, and is usually carried out by arranging detection equipment through a fixed point at present, so that the efficiency is low.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the application provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device and computer equipment.
In a first aspect, the present application provides a method for controlling an unmanned aerial vehicle, where the method is applied to any unmanned aerial vehicle in an environment monitoring system, where the environment monitoring system includes at least two unmanned aerial vehicles, and the method includes:
receiving acquisition information sent by a server;
moving to a sampling point according to the acquisition information;
acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information;
carrying out normalization processing on the environmental parameter data;
and sending the environmental parameter data subjected to the normalization processing to a server.
In the embodiment of the application, the acquisition information comprises path information and time stamp information, the path information comprises sampling coordinates of a plurality of sampling points and an order of the plurality of sampling points, the time stamp information comprises a plurality of time stamps, the time stamps are used for indicating the acquisition time of the environmental parameter data, each sampling point corresponds to at least one time stamp,
the moving to the sampling point according to the collected information comprises:
acquiring the current moment;
acquiring a first timestamp which is closest to the current time and is positioned after the current time from the timestamp information;
acquiring a current coordinate;
acquiring a first sampling coordinate of a sampling point corresponding to the first timestamp;
judging whether the interval between the time when the current coordinate reaches the first sampling coordinate and the first timestamp is greater than or equal to a first preset time length or not;
and if the interval is greater than or equal to a first preset time length, moving to a sampling point corresponding to the first time stamp.
In this embodiment of the present application, if the interval is less than a first preset duration, then:
acquiring a second time stamp which is closest to the first time stamp and is positioned after the first time stamp;
acquiring a second sampling coordinate of a sampling point corresponding to the second timestamp;
and judging whether the interval between the time when the current coordinate reaches the second sampling coordinate and the second timestamp is greater than or equal to a first preset time length or not.
In the embodiment of the application, the collected information further comprises collected data types, each sampling point corresponds to at least one collected data type,
the collecting of the environmental parameter data through the matched data collector according to the collecting information comprises the following steps:
judging whether the current data acquisition unit is matched with the acquired data type corresponding to the first time stamp of the current sampling point;
if not, switching to a matched data acquisition unit;
and at the current sampling point, acquiring environmental parameter data through a matched data acquisition unit at the acquisition time indicated by the first timestamp.
In the embodiment of the application, the acquisition information further includes a minimum time length for acquiring the environmental parameter data,
environmental parameter data are collected through a matched data collector, and the method comprises the following steps:
and acquiring the environmental parameter data with the minimum duration at the current sampling point at the acquisition time indicated by the first timestamp.
In an embodiment of the present application, the normalizing the environmental parameter data includes:
and associating the current environment parameter data with the identification information of the current unmanned aerial vehicle, the type of the sampling data, a timestamp corresponding to the sampling moment and the sampling coordinates of the sampling point.
In this embodiment of the application, according to the information of gathering, move to the sampling point, still include:
acquiring path information of other unmanned aerial vehicles;
judging whether the path information of the current unmanned aerial vehicle is overlapped with the path information of other unmanned aerial vehicles;
and if the unmanned aerial vehicle is overlapped, sending an alarm signal to the server and other unmanned aerial vehicles.
In this embodiment of the application, according to the information of gathering, move to the sampling point, still include:
when apart from the first position of sample point default distance, if it has had second unmanned aerial vehicle to detect the sample point, then:
sending first information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle sends feedback information according to the first information;
receiving feedback information of the second unmanned aerial vehicle, wherein the feedback information comprises a first moment when the second unmanned aerial vehicle leaves the sampling point;
determining whether the first time is before a first timestamp;
if the first time is before a first timestamp, judging whether the interval between the first time and the first timestamp is greater than or equal to a second preset time length;
if the interval is greater than or equal to a second preset time length, waiting at the first position;
after detecting that the second drone leaves the sampling point, moving to the sampling point.
In a second aspect, there is provided a drone control device, the device comprising:
unmanned aerial vehicle controlling means is applied to arbitrary unmanned aerial vehicle in the environmental monitoring system, the environmental monitoring system includes two at least unmanned aerial vehicles, unmanned aerial vehicle controlling means includes:
the receiver is used for receiving the acquisition information sent by the server;
the driver is used for moving to a sampling point according to the acquisition information;
the switcher is used for acquiring the environmental parameter data through the matched data acquisition unit according to the acquisition information;
the processor is used for carrying out normalization processing on the environmental parameter data;
and the transmitter is used for transmitting the normalized environmental parameter data to the server.
In a third aspect, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method.
The embodiment of the application provides an unmanned aerial vehicle control method, which is applied to any unmanned aerial vehicle, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server. According to the method, the unmanned aerial vehicle can go to the sampling point according to the collected information, and the environmental parameter data is collected through the matched data collector, and the sampling point can be set and changed at any time, so that the method can realize real-time detection of the atmosphere in real time; meanwhile, the method can also perform normalization processing on the environmental parameter data, so that subsequent processing is facilitated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a diagram illustrating an application environment of the unmanned aerial vehicle control method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic flow chart of the unmanned aerial vehicle control method in the embodiment of the present application;
fig. 4 is a block diagram showing the structure of the unmanned aerial vehicle control device according to the embodiment of the present application;
FIG. 5 is a diagram showing an internal structure of a computer device according to an embodiment of the present application;
fig. 6 is a schematic diagram illustrating path information according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
FIG. 1 is a diagram of an exemplary environment in which the method for controlling an unmanned aerial vehicle may be implemented. Referring to fig. 1, the unmanned aerial vehicle control method is applied to any unmanned aerial vehicle in an environment monitoring system. The environmental monitoring system includes at least two drones 110. The drone 110 and the server 120 are connected by a network. The unmanned aerial vehicle 110 may be a desktop terminal or a mobile terminal installed on the unmanned aerial vehicle, and the mobile terminal may be at least one of a mobile phone, a tablet computer, a notebook computer, and the like. The server 120 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
As shown in fig. 2, in one embodiment, a drone control method is provided. The present embodiment is mainly illustrated by applying the method to the unmanned aerial vehicle 110 in fig. 1. Referring to fig. 2, the present application discloses a method for controlling a drone, the method being applied to any drone in an environment monitoring system, the environment monitoring system including at least two drones, the method including:
and step 250, sending the normalized environmental parameter data to a server.
The embodiment of the application provides an unmanned aerial vehicle control method, which is applied to any unmanned aerial vehicle, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server. According to the method, the unmanned aerial vehicle can go to the sampling point according to the collected information, and the environmental parameter data is collected through the matched data collector, and the sampling point can be set and changed at any time, so that the method can realize real-time detection of the atmosphere in real time; meanwhile, the method can also perform normalization processing on the environmental parameter data, so that subsequent processing is facilitated.
In the embodiment of the application, the acquisition information comprises path information and time stamp information, the path information comprises sampling coordinates of a plurality of sampling points and an order of the plurality of sampling points, the time stamp information comprises a plurality of time stamps, the time stamps are used for indicating the acquisition time of the environmental parameter data, each sampling point corresponds to at least one time stamp,
the moving to the sampling point according to the collected information comprises:
acquiring the current moment;
acquiring a first timestamp which is closest to the current time and is positioned after the current time from the timestamp information;
acquiring a current coordinate;
acquiring a first sampling coordinate of a sampling point corresponding to the first timestamp;
judging whether the interval between the time when the current coordinate reaches the first sampling coordinate and the first timestamp is greater than or equal to a first preset time length or not;
and if the interval is greater than or equal to a first preset time length, moving to a sampling point corresponding to the first time stamp.
In this embodiment of the present application, if the interval is less than a first preset duration, then:
acquiring a second time stamp which is closest to the first time stamp and is positioned after the first time stamp;
acquiring a second sampling coordinate of a sampling point corresponding to the second timestamp;
and judging whether the interval between the time when the current coordinate reaches the second sampling coordinate and the second timestamp is greater than or equal to a first preset time length or not.
In the embodiment of the present application, the path information includes sampling coordinates of a plurality of sampling points and an order of the plurality of sampling points, as shown in fig. 6, the sampling points A, B, C and D, and the path information may be ABCD, or may be DACB, or the like. In this application embodiment, the path information of the unmanned aerial vehicle is planned by the server. Under the condition that the unmanned aerial vehicle feeds back the path information wrongly or the path information is blocked, the server can replan the path information.
In this application embodiment, the path information is only the order of sampling point, and the removal route between two sampling points is not restricted, can be that unmanned aerial vehicle adopts the straight line mode to remove to another sampling point from a sampling point, or can be that unmanned aerial vehicle surveys the surrounding environment according to the removal route that the topography was planned by oneself, or can be that unmanned aerial vehicle surveys the surrounding environment according to airborne detector, for example laser radar etc. then the removal route of planning by oneself.
In the embodiment of the present application, the timestamp information includes a plurality of timestamps, and the timestamps are used to indicate the collection time of the environmental parameter data, such as 12:00:00,14:00:01, and the like. In the embodiment of the present application, the timestamps have a sequential order, which is generally considered to be the same as the time order, for example, the two timestamps 12:00:00 are before and 14:00:01 are after.
In the embodiment of the present application, the timestamp information may also be numbers, such as 1, 2, and 3 … …, where the numbers may be regarded as familiarity of timestamps, each number may correspond to a time, for example, 1 corresponds to 14:00:00, and an interval between every two timestamps is 1 minute, so 2 corresponds to 14:05: 00.
In the embodiment of the present application, the timestamp may also be a representation in other prior art, or a representation that can be understood by those skilled in the art, and is not described herein again.
In the embodiment of the present application, the sampling points are positions of collecting environmental parameter data set by the system, and may be uniformly distributed or may be non-uniformly distributed in a space to be detected, and then may be distributed according to the ground topography, which is not described herein again.
In the embodiment of the application, the unmanned aerial vehicle can move to the sampling point in sequence to collect the information according to the path information in the collected information, but due to various reasons, for example, other unmanned aerial vehicles occupy the place, or the path planning is unreasonable, or obstacles exist in the moving process, so that the unmanned aerial vehicle cannot move to the sampling point on time, and the like, the unmanned aerial vehicle needs to judge whether the unmanned aerial vehicle can reach the target sampling point before the time specified by the system. The specific method is to obtain the current time and the time stamp for judgment. If the current time is 12:00:00, the timestamp may be 11:59:00, 12:01:00, 12:02:00, 12:00:00, and 12:01:00 located closest to and after the current time.
By the first sampling coordinate of the current coordinate corresponding to the timestamp 12:01:00 and the speed of the drone, the time when the drone reaches the first sampling coordinate can be calculated. The speed of the drone may be the maximum speed of the drone, or may be the average speed, or may be the safe speed, but the safe speed will be adopted generally to guarantee the safety of the drone, and guarantee that the system possesses a certain fault tolerance rate.
In order to ensure a certain fault tolerance, in the embodiment of the present application, a first preset time duration is set, and the first preset time duration may be set to 10 seconds. If the time at which the drone reaches the first sample coordinate is 12:00:50, then the interval to timestamp 12:01:00 is 10 seconds, then the drone moves to the sample point corresponding to the first timestamp. If the time when the unmanned aerial vehicle reaches the first sampling coordinate is 12:00:58 or 12:01:05 seconds, the unmanned aerial vehicle is considered to be incapable of reaching the sampling point on time, the next timestamp 12:02:00 is obtained again, and judgment is continued until the conditions are met.
In the embodiment of the application, the collected information further comprises collected data types, each sampling point corresponds to at least one collected data type,
the collecting of the environmental parameter data through the matched data collector according to the collecting information comprises the following steps:
judging whether the current data acquisition unit is matched with the acquired data type corresponding to the first time stamp of the current sampling point;
if not, switching to a matched data acquisition unit;
and at the current sampling point, acquiring environmental parameter data through a matched data acquisition unit at the acquisition time indicated by the first timestamp.
In this application embodiment, unmanned aerial vehicle can carry on multiple data collection station, for example carbon dioxide collector, PM2.5 collector, volatile organic compounds collector, sulfur dioxide collector, toxic gas collector etc. can configure according to the demand.
Because unmanned aerial vehicle can carry on multiple data collection station simultaneously, these data collection station can simultaneous working, or because restriction such as hardware, structure, circuit, data processing can not simultaneous working, consequently, in this application embodiment, can be according to the demand, at a certain sampling point, at a certain sampling moment, switch to assorted data collection station.
The method provided by the embodiment of the application can be used for simultaneously acquiring various environmental parameter data, so that the cost is saved, and the applicability is improved.
In the embodiment of the application, the acquisition information further includes a minimum time length for acquiring the environmental parameter data,
environmental parameter data are collected through a matched data collector, and the method comprises the following steps:
and acquiring the environmental parameter data with the minimum duration at the current sampling point at the acquisition time indicated by the first timestamp.
Because the atmosphere can change at any time along with wind, temperature, etc., so some environmental parameter data need last a period of time can obtain comparatively accurate data, consequently, in this application embodiment, still set up minimum duration, can improve the rate of accuracy of data collection.
In this embodiment of the application, since there may be switching of the data collector, the first preset time period may also be adaptively adjusted, for example, 10 seconds is required for switching of the data collector, and then the first preset time period may be set to 20 seconds.
In an embodiment of the present application, the normalizing the environmental parameter data includes:
and associating the current environment parameter data with the identification information of the current unmanned aerial vehicle, the type of the sampling data, a timestamp corresponding to the sampling moment and the sampling coordinates of the sampling point.
In the embodiment of the application, a format after normalization processing of the environmental parameter data may be preset, for example, the format may be timestamp-environmental parameter data corresponding to sampling coordinates-sampling moments of the unmanned aerial vehicle identification information-sampling data type-sampling points, or may be other formats.
After the normalization process, the environmental parameter data may be stored in a table form, or may be stored in other forms, which are not described herein again.
According to the embodiment of the application, the environmental parameter data are subjected to normalization processing, so that the efficiency of subsequent data processing can be improved.
In this embodiment of the application, according to the information of gathering, move to the sampling point, still include:
acquiring path information of other unmanned aerial vehicles;
judging whether the path information of the current unmanned aerial vehicle is overlapped with the path information of other unmanned aerial vehicles;
and if the unmanned aerial vehicle is overlapped, sending an alarm signal to the server and other unmanned aerial vehicles.
In the embodiment of the application, various types of environmental parameter data may need to be acquired, and the number of the collectors configured for the unmanned aerial vehicles is limited, so that a certain part of unmanned aerial vehicles may acquire first environmental parameter data, and another part of unmanned aerial vehicles acquire second environmental parameter data, which may cause the path information of the unmanned aerial vehicles to coincide.
In this embodiment of the application, according to the information of gathering, move to the sampling point, still include:
when apart from the first position of sample point default distance, if it has had second unmanned aerial vehicle to detect the sample point, then:
sending first information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle sends feedback information according to the first information;
receiving feedback information of the second unmanned aerial vehicle, wherein the feedback information comprises a first moment when the second unmanned aerial vehicle leaves the sampling point;
determining whether the first time is before a first timestamp;
if the first time is before a first timestamp, judging whether the interval between the first time and the first timestamp is greater than or equal to a second preset time length;
if the interval is greater than or equal to a second preset time length, waiting at the first position;
after detecting that the second drone leaves the sampling point, moving to the sampling point.
In this embodiment of the present application, if the interval is less than the second preset duration, the next timestamp and the next sampling point coordinate need to be obtained again, and the method for obtaining the next timestamp and/or the next sampling point coordinate is as described above, and is not described herein again.
In the embodiment of the application, if the first moment is behind the first timestamp, a sampling point corresponding to the next timestamp is obtained;
and if the first moment is before the first timestamp but the interval is less than a second preset time length, acquiring a sampling point corresponding to the next timestamp.
Unmanned aerial vehicle path information in this application embodiment has the coincidence, refers to same time stamp of same sampling point and gathers, or can remove to same sampling point from different sampling points.
Because unmanned aerial vehicle's type is different, and the size is different, and the interval between the sampling point probably is less than the safe distance between the unmanned aerial vehicle, so unmanned aerial vehicle path information has the coincidence or can be from different sampling points to remove to adjacent sampling point.
Because unmanned aerial vehicle will stay a period of time at the sampling point and gather, so unmanned aerial vehicle path information has the coincidence or can be at several adjacent timestamp information, and unmanned aerial vehicle removes to same sampling point from different sampling points.
In the embodiment of the application, the fact that the unmanned aerial vehicle path information is overlapped can mean that the unmanned aerial vehicle has the possibility of collision in a broad sense.
From the safety consideration, the unmanned aerial vehicle can obtain the path information of other unmanned aerial vehicles in real time in the moving process. In addition, unmanned aerial vehicle is before being about to arrive the sampling point, also has other unmanned aerial vehicle on surveying the sampling point to carry out reasonable dodging.
In this application embodiment, unmanned aerial vehicle can pass through equipment such as laser radar, infrared radar or ultrasonic radar at the in-process that removes, surveys object around in real time, including other unmanned aerial vehicle, birds, barrier etc to the realization is dodged, improves the security of system.
The embodiment of the application provides an unmanned aerial vehicle control method, which is applied to any unmanned aerial vehicle, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server. According to the method, the unmanned aerial vehicle can go to the sampling point according to the collected information, and the environmental parameter data is collected through the matched data collector, and the sampling point can be set and changed at any time, so that the method can realize real-time detection of the atmosphere in real time; meanwhile, the method can also perform normalization processing on the environmental parameter data, so that subsequent processing is facilitated.
Fig. 3 is a flowchart of an unmanned aerial vehicle control method according to an embodiment of the present application, and as shown in fig. 3, the method includes:
and step 310, receiving the acquisition information sent by the server.
And step 320, acquiring the current time and the current coordinate.
And step 350, moving to a first position near the sampling point corresponding to the first time stamp.
And step 360, detecting whether the sampling point has the second unmanned aerial vehicle, if so, turning to step 370, and if not, turning to step 392.
And 391, acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information. And normalizing the environmental parameter data, sending the normalized environmental parameter data to a server, and turning to the step 320.
Fig. 2 and fig. 3 are schematic flow diagrams of a method for controlling an unmanned aerial vehicle according to an embodiment. It should be understood that, although the steps in the flowcharts of fig. 2 and 3 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 3 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a drone control device for use with any drone in an environment monitoring system, the environment monitoring system including at least two drones, the drone control device including:
a receiver 410, configured to receive acquisition information sent by a server;
a driver 420 for moving to a sampling point according to the collected information;
the switcher 430 is used for acquiring the environmental parameter data through the matched data acquisition unit according to the acquisition information;
a processor 440, configured to perform normalization processing on the environmental parameter data;
and a transmitter 450 for transmitting the normalized environmental parameter data to the server.
In the embodiment of the application, the acquisition information comprises path information and time stamp information, the path information comprises sampling coordinates of a plurality of sampling points and an order of the plurality of sampling points, the time stamp information comprises a plurality of time stamps, the time stamps are used for indicating the acquisition time of the environmental parameter data, each sampling point corresponds to at least one time stamp,
the driver 420 is further configured to:
acquiring the current moment;
acquiring a first timestamp which is closest to the current time and is positioned after the current time from the timestamp information;
acquiring a current coordinate;
acquiring a first sampling coordinate of a sampling point corresponding to the first timestamp;
judging whether the interval between the time when the current coordinate reaches the first sampling coordinate and the first timestamp is greater than or equal to a first preset time length or not;
and if the interval is greater than or equal to a first preset time length, moving to a sampling point corresponding to the first time stamp.
If the interval is less than the first preset duration, the driver 420 is further configured to: acquiring a second time stamp which is closest to the first time stamp and is positioned after the first time stamp;
acquiring a second sampling coordinate of a sampling point corresponding to the second timestamp;
and judging whether the interval between the time when the current coordinate reaches the second sampling coordinate and the second timestamp is greater than or equal to a first preset time length or not.
In the embodiment of the application, the collected information further comprises collected data types, each sampling point corresponds to at least one collected data type,
the switch 430 is further configured to:
judging whether the current data acquisition unit is matched with the acquired data type corresponding to the first time stamp of the current sampling point;
if not, switching to a matched data acquisition unit;
and at the current sampling point, acquiring environmental parameter data through a matched data acquisition unit at the acquisition time indicated by the first timestamp.
In the embodiment of the application, the acquisition information further includes a minimum time length for acquiring the environmental parameter data,
the switch 430 is further configured to:
and acquiring the environmental parameter data with the minimum duration at the current sampling point at the acquisition time indicated by the first timestamp.
In this embodiment of the present application, the processor 440 is further configured to:
and associating the current environment parameter data with the identification information of the current unmanned aerial vehicle, the type of the sampling data, a timestamp corresponding to the sampling moment and the sampling coordinates of the sampling point.
In this embodiment, the driver 420 is further configured to:
acquiring path information of other unmanned aerial vehicles;
judging whether the path information of the current unmanned aerial vehicle is overlapped with the path information of other unmanned aerial vehicles;
and if the unmanned aerial vehicle is overlapped, sending an alarm signal to the server and other unmanned aerial vehicles.
In this embodiment, the driver 420 is further configured to:
when apart from the first position of sample point default distance, if it has had second unmanned aerial vehicle to detect the sample point, then:
sending first information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle sends feedback information according to the first information;
receiving feedback information of the second unmanned aerial vehicle, wherein the feedback information comprises a first moment when the second unmanned aerial vehicle leaves the sampling point;
determining whether the first time is before a first timestamp;
if the first time is before a first timestamp, judging whether the interval between the first time and the first timestamp is greater than or equal to a second preset time length;
if the interval is greater than or equal to a second preset time length, waiting at the first position;
after detecting that the second drone leaves the sampling point, moving to the sampling point.
In this embodiment, the driver 420 is further configured to:
if the first moment is behind the first time stamp, acquiring a sampling point corresponding to the next time stamp;
and if the first moment is before the first timestamp but the interval is less than a second preset time length, acquiring a sampling point corresponding to the next timestamp.
FIG. 5 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the drone 110 in fig. 1. As shown in fig. 5, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement the drone controlling method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform the drone controlling method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: the method is applied to any unmanned aerial vehicle in an environment monitoring system, the environment monitoring system comprises at least two unmanned aerial vehicles, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server.
In an embodiment, the processor executes the computer program to implement the steps of the above method, which are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: the method is applied to any unmanned aerial vehicle in an environment monitoring system, the environment monitoring system comprises at least two unmanned aerial vehicles, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server.
In an embodiment, the computer program, when executed by the processor, further implements the steps of the above method, which are not described herein again.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of: the method is applied to any unmanned aerial vehicle in an environment monitoring system, the environment monitoring system comprises at least two unmanned aerial vehicles, and the method comprises the following steps: receiving acquisition information sent by a server; moving to a sampling point according to the acquisition information; acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information; carrying out normalization processing on the environmental parameter data; and sending the environmental parameter data subjected to the normalization processing to a server.
In an embodiment, the computer program product or the computer program when executed further implements the steps of the above method, which are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It is noted that, in this document, 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.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for controlling a drone, the method being applied to any drone in an environment monitoring system comprising at least two drones, the method comprising:
receiving acquisition information sent by a server;
moving to a sampling point according to the acquisition information;
acquiring environmental parameter data through a matched data acquisition unit according to the acquisition information;
carrying out normalization processing on the environmental parameter data;
and sending the environmental parameter data subjected to the normalization processing to a server.
2. The method of claim 1, wherein the acquisition information comprises path information and time stamp information, the path information comprising sampling coordinates of a plurality of sampling points and an order of the plurality of sampling points, the time stamp information comprising a plurality of time stamps, the time stamps indicating acquisition times of the environmental parameter data, each sampling point corresponding to at least one time stamp,
the moving to the sampling point according to the collected information comprises:
acquiring the current moment;
acquiring a first timestamp which is closest to the current time and is positioned after the current time from the timestamp information;
acquiring a current coordinate;
acquiring a first sampling coordinate of a sampling point corresponding to the first timestamp;
judging whether the interval between the time when the current coordinate reaches the first sampling coordinate and the first timestamp is greater than or equal to a first preset time length or not;
and if the interval is greater than or equal to a first preset time length, moving to a sampling point corresponding to the first time stamp.
3. The method of claim 2, wherein if the interval is less than a first preset duration:
acquiring a second time stamp which is closest to the first time stamp and is positioned after the first time stamp;
acquiring a second sampling coordinate of a sampling point corresponding to the second timestamp;
and judging whether the interval between the time when the current coordinate reaches the second sampling coordinate and the second timestamp is greater than or equal to a first preset time length or not.
4. The method of claim 1, wherein collecting information further comprises collecting data categories, each sample point corresponding to at least one collected data category,
the collecting of the environmental parameter data through the matched data collector according to the collecting information comprises the following steps:
judging whether the current data acquisition unit is matched with the acquired data type corresponding to the first time stamp of the current sampling point;
if not, switching to a matched data acquisition unit;
and at the current sampling point, acquiring environmental parameter data through a matched data acquisition unit at the acquisition time indicated by the first timestamp.
5. The method of claim 1, wherein collecting information further comprises collecting a minimum duration of environmental parameter data,
environmental parameter data are collected through a matched data collector, and the method comprises the following steps:
and acquiring the environmental parameter data with the minimum duration at the current sampling point at the acquisition time indicated by the first timestamp.
6. The method of claim 1, wherein the normalizing the environmental parameter data comprises:
and associating the current environment parameter data with the identification information of the current unmanned aerial vehicle, the type of the sampling data, a timestamp corresponding to the sampling moment and the sampling coordinates of the sampling point.
7. The method of claim 2, wherein moving to a sampling point based on the collected information further comprises:
acquiring path information of other unmanned aerial vehicles;
judging whether the path information of the current unmanned aerial vehicle is overlapped with the path information of other unmanned aerial vehicles;
and if the unmanned aerial vehicle is overlapped, sending an alarm signal to the server and other unmanned aerial vehicles.
8. The method of claim 2, wherein moving to a sampling point based on the collected information further comprises:
when apart from the first position of sample point default distance, if it has had second unmanned aerial vehicle to detect the sample point, then:
sending first information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle sends feedback information according to the first information;
receiving feedback information of the second unmanned aerial vehicle, wherein the feedback information comprises a first moment when the second unmanned aerial vehicle leaves the sampling point;
determining whether the first time is before a first timestamp;
if the first time is before a first timestamp, judging whether the interval between the first time and the first timestamp is greater than or equal to a second preset time length;
if the interval is greater than or equal to a second preset time length, waiting at the first position;
after detecting that the second drone leaves the sampling point, moving to the sampling point.
9. An unmanned aerial vehicle control device, characterized in that, the device includes:
unmanned aerial vehicle controlling means is applied to arbitrary unmanned aerial vehicle in the environmental monitoring system, the environmental monitoring system includes two at least unmanned aerial vehicles, unmanned aerial vehicle controlling means includes:
the receiver is used for receiving the acquisition information sent by the server;
the driver is used for moving to a sampling point according to the acquisition information;
the switcher is used for acquiring the environmental parameter data through the matched data acquisition unit according to the acquisition information;
the processor is used for carrying out normalization processing on the environmental parameter data;
and the transmitter is used for transmitting the normalized environmental parameter data to the server.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 8 are implemented when the computer program is executed by the processor.
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