CN113741499A - Unmanned aerial vehicle management control method, flight control method, management platform and airframe - Google Patents
Unmanned aerial vehicle management control method, flight control method, management platform and airframe Download PDFInfo
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- CN113741499A CN113741499A CN202110995074.3A CN202110995074A CN113741499A CN 113741499 A CN113741499 A CN 113741499A CN 202110995074 A CN202110995074 A CN 202110995074A CN 113741499 A CN113741499 A CN 113741499A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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 embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle management control method, a flight control method, a management platform, a machine nest and a storage medium. The method comprises the following steps: acquiring an unmanned aerial vehicle task; responding to a first input operation of a user, acquiring an issued task based on the unmanned aerial vehicle task, and sending the issued task to a nest or a server, wherein the issued task also comprises a flyer ID (identity) on the occasion of sending the issued task to the server; the server is used for storing the issued tasks, and the flyer acquires the issued tasks from the server. The unmanned aerial vehicle control method and the unmanned aerial vehicle control system can issue the unmanned aerial vehicle task to the airfield, and the airfield is controlled by the airfield. The issued task including the flyer ID can also be issued to the server, and the flyer acquires the issued task through the server and controls the unmanned aerial vehicle to execute the task. The embodiment of the application provides various unmanned aerial vehicle control modes for the management platform, and can improve the application range of the management platform.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle management control method, a flight control method, a management platform, a machine nest and a storage medium.
Background
The unmanned aerial vehicle management platform is a platform for managing flight tasks of the unmanned aerial vehicle, is generally used for creating unmanned aerial vehicle tasks and issuing the unmanned aerial vehicle tasks to the unmanned aerial vehicle for execution. The current unmanned aerial vehicle management platform has a single management mode, and cannot meet the multi-scene control requirement of a user.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle management control method, a flight control method, a management platform, a nest and a storage medium, so that the control mode of the unmanned aerial vehicle is enriched, and the application range of the management platform is widened.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle management control method, where the method is used for a management platform, and the method includes:
acquiring an unmanned aerial vehicle task;
responding to a first input operation of a user, acquiring an issued task based on the unmanned aerial vehicle task, and sending the issued task to a nest or a server, wherein the issued task also comprises a flyer ID (identity) on the occasion of sending the issued task to the server;
the server is used for storing the issued tasks, and the flyer acquires the issued tasks from the server.
In some embodiments, the drone mission includes a drone type, a route type, and a flight mission, the route type including an automatic route and a manual route.
In some embodiments, the method further comprises: displaying a flight picture of the unmanned aerial vehicle;
in the flight process of the unmanned aerial vehicle, when the unmanned aerial vehicle meets remote control conditions, sending an inquiry message to a remote controller of a flying hand, wherein the inquiry message is used for inquiring whether the flying hand agrees to remotely control the unmanned aerial vehicle;
and under the condition that the flying hand agrees to remotely control the unmanned aerial vehicle, remotely controlling the unmanned aerial vehicle.
In some embodiments, the method further comprises:
displaying a calendar task table, wherein the calendar task table comprises calendar information and task information.
In some embodiments, the method further comprises:
responding to a second input operation of a user, and sending a starting-up instruction to a nest, wherein the starting-up instruction is used for indicating the nest to start the unmanned aerial vehicle;
when the state of the unmanned aerial vehicle in the nest is normal, sending a release instruction to the nest, wherein the release instruction is used for indicating the nest to release the constraint on the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to take off from the nest;
and responding to a third input operation of the user, and generating a flight control instruction, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle, and the flight state comprises the flight direction.
In some embodiments, the method further comprises:
displaying a map and at least one nest located in the map on a display screen coupled to the management platform.
In some embodiments, the method further comprises:
and responding to a fourth input operation of the user, and displaying the state of the machine nest and the state of the unmanned aerial vehicle in the machine nest on the display screen.
In some embodiments, when the drone in the nest is in a normal state, sending a release instruction to the nest includes:
receiving a self-checking success message of the unmanned aerial vehicle sent by the unmanned aerial vehicle or the nest, and generating the release instruction based on the self-checking success message;
and sending the release instruction to the nest.
In a second aspect, an embodiment of the present application further provides a method for controlling flight of an unmanned aerial vehicle, where the method is used for a airframe, and the method includes:
receiving an issued task sent by a management platform, wherein the issued task comprises a flight task and flight time;
when the flight time is reached, starting the unmanned aerial vehicle in the nest;
when the unmanned aerial vehicle in the machine nest is in a normal state, releasing the constraint on the unmanned aerial vehicle;
and sending the flight task to an unmanned aerial vehicle, and instructing the unmanned aerial vehicle to execute the flight task.
In some embodiments, the releasing the restraint of the drone when the drone in the nest is in a normal state includes:
and when receiving the self-checking success message sent by the unmanned aerial vehicle, releasing the constraint on the unmanned aerial vehicle.
In some embodiments, the method further comprises:
after unmanned aerial vehicle descends to the nest, close unmanned aerial vehicle, do unmanned aerial vehicle charges.
In a third aspect, an embodiment of the present application further provides a management platform, where the management platform includes:
at least one first processor, and
a first memory communicatively coupled to the at least one first processor, the first memory storing instructions executable by the at least one first processor to enable the at least one first processor to perform the drone management control method of the first aspect.
In a fourth aspect, embodiments of the present application further provide a nest, where the nest includes:
at least one second processor, and
a second memory communicatively coupled to the at least one second processor, the second memory storing instructions executable by the at least one second processor to enable the at least one second processor to perform the drone management control method of the second aspect.
In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a machine, the machine is caused to execute the above-mentioned drone management control method.
Compared with the prior art, the application has the following beneficial effects at least: according to the unmanned aerial vehicle management control method, the flight control method, the management platform, the airframe and the storage medium, after the management platform obtains the unmanned aerial vehicle task, the unmanned aerial vehicle task can be issued to the airframe, and the airframe controls the unmanned aerial vehicle to take off. The issued task including the flyer ID can also be issued to the server, and the flyer acquires the issued task through the server and controls the unmanned aerial vehicle to execute the task. The embodiment of the application provides various unmanned aerial vehicle control modes for the management platform, and can improve the application range of the management platform.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic view of an application scenario of a management control method for an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a diagram illustrating a hardware structure of a first controller in a management platform according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a hardware configuration of a second controller in a cell according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for managing and controlling an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a task of creating a fixed wing in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 6 is a schematic diagram illustrating a task of creating a rotor in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 7 is a schematic diagram of task issuing in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 8 is another schematic diagram illustrating task issuing in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 9 is a schematic diagram illustrating a flight video picture of the unmanned aerial vehicle in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 10 is a view illustrating a calendar task representation intention displayed in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 11 is a schematic flowchart of a method for managing and controlling an unmanned aerial vehicle according to an embodiment of the present application;
fig. 12 is a schematic diagram of a display map and a machine nest in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 13 is a schematic diagram illustrating a state of a nest and a state of an unmanned aerial vehicle in the unmanned aerial vehicle management control method according to the embodiment of the present application;
fig. 14 is a schematic flow chart diagram illustrating an embodiment of a method for drone management control according to the present application;
fig. 15 is a schematic diagram of acquiring a task list after a flyer logs in an APP in the management control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 16 is a schematic flow chart of an embodiment of a method for controlling flight of an unmanned aerial vehicle according to 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.
The unmanned aerial vehicle management control method and the flight control method provided by the embodiment of the application can be applied to the application scene shown in fig. 1, and in the application scene shown in fig. 1, the unmanned aerial vehicle management control method and the flight control method include a management platform 100, a nest 200, an unmanned aerial vehicle 300, a server 400, a remote controller 500, a flyer 600 and an administrator 700.
Between the management platform 100 and the drone 300, and between the remote controller 500 and the drone 300, communication connections may be established through wireless communication modules (e.g., signal receiver, signal transmitter, etc.) respectively disposed inside the management platform and the drone, and data/commands may be uploaded or issued. The connection between management platform 100 and nest 200, and between management platform 100 and server 400 may be via wired or wireless communication.
The drone 300 generally includes a fuselage, arms connected to the fuselage, a power system, a control system, and the like. The power system is used for providing power for the flight of the drone 300, such as thrust, lift force, and the like, and may include motors, electric controls, blades, or batteries, and the like.
The control system is the central nerve of the drone 300, including one or more controllers, and a plurality of sensors. The plurality of sensors are used for sensing the space orientation, speed, acceleration, angular acceleration, attitude, position, etc. of the unmanned aerial vehicle, and comprise a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, an image sensor, etc.
The remote control 500 may be a remote control dedicated to the drone, or may be other electronic devices with control functions, such as a smart phone/cell phone, a tablet, a Personal Digital Assistant (PDA), a laptop computer, a desktop computer, a wearable device (e.g., watch, glasses, etc.), a media content player, etc.
The airframe 200 is used for placing the unmanned aerial vehicle 300, and generally comprises a cabinet body and a cover body, wherein the cabinet body and the cover body form an enclosed space, and when the unmanned aerial vehicle 300 is placed in the enclosed space, the unmanned aerial vehicle can be prevented from being exposed to the sun and rain. The airframe 200 may further include a charging module for charging the drone when placed therein.
The nest 200 may further include a cover control mechanism for controlling the opening or closing of the cover. The unmanned aerial vehicle can further comprise a pressing mechanism for controlling the unmanned aerial vehicle to be started or shut down by pressing a start/shut-down key of the unmanned aerial vehicle. The cover control mechanism may be formed of an existing structure such as a motor, a linkage mechanism, and a transmission mechanism, and the pressing mechanism may be formed of an existing structure including a pressing body and an elastic member.
The nest 200 may further include a first controller for sending control instructions to the cover control mechanism, the pressing mechanism, the drone, and the like. Fig. 2 schematically shows a hardware structure of the first controller, and as shown in fig. 2, the first controller includes a first memory 21 and a first processor 22.
The first memory 21 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable program instructions, among other things. The first memory 21 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like.
Further, the first memory 21 may include a high speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the first memory 21 may optionally include a memory located remotely from the first processor 22, which may be connected to the terminal over a network.
Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The first processor 22 connects various parts of the whole nest 200 by using various interfaces and lines, executes various functions of the nest 200 and processes data by running or executing software programs stored in the first memory 21 and calling data stored in the first memory 21, for example, implementing the drone management control method according to some embodiments of the present application.
The number of the first processors 22 may be one or more, and one first processor 22 is illustrated in fig. 2 as an example. The first processor 22 and the first memory 21 may be connected by a bus or other means, and fig. 2 illustrates the connection by a bus as an example.
The first processor 22 may include a Central Processing Unit (CPU), Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) device, or the like. The first processor 22 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The management platform 100 is a platform for uniformly managing the nests 200 and the drones 300, and may be any suitable electronic device with control function, such as a laptop computer, a desktop computer, a server cluster, or the like.
The management platform 100 may include a display screen or display by connecting to another display device, and the display screen may be used to display various states of the airfield and/or the drone, such as a cover state (open or closed) of the airfield, a main control board state (normal or abnormal) of the airfield, a charging state (charging is completed or in the middle), and a state (normal or abnormal) of the drone.
The management platform 100 may further include an input device for inputting a manipulation instruction of the user 200, such as a takeoff/landing instruction of the drone, a direction control instruction of the drone, and the like. To enable human-computer interaction between the user 200 and the management platform 100, wherein the input device is a touch screen, a button, a mouse, or the like.
The management platform 100 may further include a second controller, and fig. 3 schematically illustrates a hardware structure of the second controller, and as shown in fig. 3, the second controller includes a second memory 31 and a second processor 32.
The second memory 31 serves as a non-volatile computer-readable storage medium for storing non-volatile software programs and non-volatile computer-executable program instructions. The second memory 31 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like.
In addition, the second memory 31 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the second memory 31 may optionally include a memory located remotely from the second processor 32, which may be connected to the terminal over a network.
Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The second processor 32 is connected to various parts of the entire management platform 100 by various interfaces and lines, and executes various functions of the management platform 100 and processes data by running or executing software programs stored in the second memory 31 and calling data stored in the second memory 31, for example, implementing the flight control method of the unmanned aerial vehicle according to the embodiment of the present application.
The number of the second processors 32 may be one or more, and one second processor 32 is illustrated in fig. 3. The second processor 32 and the second memory 31 may be connected by a bus or other means, and the bus connection is taken as an example in fig. 3.
The second processor 32 may include a Central Processing Unit (CPU), Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) device, or the like. The second processor 32 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The administrator 700 may manage each drone, nest, and flyer through the management platform 100, such as creating drone tasks, setting configuration information for drone tasks, assigning tasks, and so forth. Administrator 700 may also manage the flyers, such as creating a team of flyers, inviting flyers, and so forth. The administrator 700 may also manage devices (nests, drones, etc.), such as adding devices, periodically eliminating aged devices, etc.
In addition, the administrator 700 may also utilize the input device of the management platform 100 to perform remote flight control on the drone. Of course, the operation of the remotely controlled drone may also be performed by a dedicated operator.
The drone tasks may be divided into fixed-wing tasks, rotor tasks, and other drone type tasks, etc. according to different drone types. Unmanned aerial vehicle tasks can also be divided into automatic airline tasks and manual airline tasks. The automatic air route, namely the air route, is determined before the unmanned aerial vehicle flies, and the unmanned aerial vehicle flies according to the determined air route. A manual air route, namely an air route is uncertain before the unmanned aerial vehicle flies, and the air route is manually controlled by a flyer according to different conditions in the flying process.
When assigning tasks, the management platform 100 may assign the drone tasks to the airframe 200, and the airframe 200 controls the drone to fly. The management platform 100 may also allocate the unmanned aerial vehicle task to the corresponding flyer 600, in this case, the management platform 100 may send the unmanned aerial vehicle task and the corresponding flyer ID to the server 400, and the flyer 600 may acquire the unmanned aerial vehicle task from the server 400 through the login APP and execute the unmanned aerial vehicle task.
The server 400 is used for acquiring and storing the task of the unmanned aerial vehicle from the management platform 100, and is used as a server of the APP software, and when the flight 600 needs to know the task to be executed, the flight can log in the APP to acquire the task of the unmanned aerial vehicle to be executed from the server 400.
The flyer 600 may control the flight of the drone 300 through the remote controller 500, and the flyer 600 may log in the APP to obtain a task and execute the task. The flyer 600 may perform automatic airline tasks as well as manual airline tasks. May perform fixed-wing tasks as well as rotor tasks, or other tasks.
It should be noted that, the number of the management platform 100, the nest 200, the drone 300, the server 400, the remote controller 500, the flyer 600 and the administrator 700 shown in fig. 2 is not limited, and in practical use, the number of the devices or persons may be greater or smaller according to specific application.
Those skilled in the art can understand that the above is only an illustration of the hardware structures of the management platform 100, the airframe 200 and the drone 300, and in practical applications, more components may be provided for the management platform 100, the airframe 200 and the drone 300 according to actual functional requirements, and of course, one or more components may be omitted according to functional requirements.
Fig. 4 shows a flowchart of a method for managing and controlling a drone according to an embodiment of the present application, where the method may be performed by the management platform 100 (e.g., a first controller in the management platform 100), and as shown in fig. 4, the method includes:
101: and acquiring the unmanned aerial vehicle task.
The method includes the steps that tasks needing to be executed by the unmanned aerial vehicle are obtained, the unmanned aerial vehicle tasks include flight tasks of the unmanned aerial vehicle, for example, a south area of a goat Taishan is patrolled and examined according to a specific route, or the grazing condition of a certain group of goats is monitored without limiting the route.
In some embodiments, the drone mission may also include a drone type, i.e., for example, the drone mission may be a fixed wing mission, a rotor mission, or other drone type mission.
The drone mission may also include airline types including automatic airlines and manual airlines. The automatic air route, namely the air route, is determined before the unmanned aerial vehicle flies, and the unmanned aerial vehicle flies according to the determined air route. A manual air route, namely an air route is uncertain before the unmanned aerial vehicle flies, and the air route is manually controlled by a flyer according to specific conditions in the flying process.
The task of the drone may be created by a user through a management platform, and for example, if a patrol is required in a certain area, a patrol task may be created on the management platform. The management platform supports multiple types of drone tasks, such as fixed wing tasks and rotor tasks, for which a user may specify a drone type when creating a task. The user may determine the appropriate drone type according to particular needs, for example, a fixed wing mission may be created if the mission is far away or long, and a rotor mission may be created if the mission is heavily loaded.
For ease of differentiation, the user may also name the unmanned aerial vehicle tasks, e.g., balcony south-mountain patrol tasks.
After the user creates the task, the unmanned aerial vehicle task can be further configured through the management platform. Such as, for example, flying height, pan-tilt angle, etc. FIG. 5 illustrates one way to create tasks and set tasks, by way of example, to create fixed-wing tasks. Figure 6 illustrates one form of creating a rotor task and setting up the task.
In other embodiments, the drone task may also be stored in advance on a management platform, and the management platform obtains the drone task by reading a management platform memory.
102: responding to a first input operation of a user, acquiring an issued task based on the unmanned aerial vehicle task, and sending the issued task to an airframe or a server, wherein the issued task also comprises a flyer ID on the occasion of sending the issued task to the server. The server is used for storing the issued tasks, and the flyer acquires the issued tasks from the server.
The management platform can manage one or more flyers, nests and drones, for example, hardware devices such as drones and nests can be added to the management platform in advance, and the hardware devices are identified according to the serial numbers, determined to be drones, nests or other hardware devices, and automatically classified.
An administrator of the management platform can create a flyer team in advance and invite flyers to join the flyer team, each flyer has a flyer ID uniquely representing the identity of the flyer, and the identity of each flyer can be distinguished through the flyer ID.
When the management platform issues the task, the task can be issued to the nest, the unmanned aerial vehicle is controlled by the nest to take off, and the task can also be issued to the flying hand below, and the unmanned aerial vehicle is controlled by the flying hand to fly. When the management platform issues the issued task to the flyer, the issued task can be sent to the server, the flyer logs in the APP by using the account and the password, and the account and the flyer ID have a corresponding relationship, so that the unmanned aerial vehicle task to be executed by the flyer can be obtained from the server.
The user can acquire the issued task by inputting a first input operation to the management platform. For example, after the user creates an unmanned task, the input device may select the femto-ID to obtain the delivered task including the femto-ID. The first input operation is an operation of selecting a flyer through a mouse or a touch screen.
In other embodiments, when the task is delivered, the execution period, the start time, the validity period, and the like of the delivered task may also be set as needed. Figure 7 shows one form of task issue by selecting the flyer.
The nest ID can also be selected through the input device, the unmanned aerial vehicle task is issued to the nest, and the issued task is obtained. The first input operation is an operation of selecting the cell through a mouse or a touch screen. According to the requirement, when the task is issued, an execution period, a starting time, a validity period and the like can be set. Fig. 8 shows one form of task delivery by selecting a nest.
The embodiment of the application supports a rotor wing task and a fixed wing task, supports an automatic air route and a manual air route, and supports the task issuing to an aircraft nest or a flying hand. For example, the unmanned aerial vehicle automatically executes the task according to the automatic airline after the flight hand acquires the task, or the management platform issues the rotor wing (or the fixed wing) task of the manual airline to the flight hand, and the unmanned aerial vehicle is manually controlled to execute the task after the flight hand acquires the task.
For another example, the management platform issues a rotor (or fixed wing) task of an automatic route to the airfield nest, the airfield nest controls the unmanned aerial vehicle to take off, and the unmanned aerial vehicle automatically executes the task according to the automatic route. The management platform can also directly send the rotor (or fixed wing) task of automatic air route to unmanned aerial vehicle, and unmanned aerial vehicle carries out the task according to automatic route by oneself.
Optionally, in this embodiment of the application, the user may also directly use the management platform to manually control the unmanned aerial vehicle to execute the task. The embodiment of the application is suitable for multiple unmanned aerial vehicle's application scenario, has increased management platform's application scope.
Can show the video picture of unmanned aerial vehicle flight on the display screen of management platform coupling, please refer to fig. 9, in the embodiment shown in fig. 9, unmanned aerial vehicle flight picture shows on the screen right side, and the user can know unmanned aerial vehicle's flight condition through watching unmanned aerial vehicle flight picture to adjustment flight strategy.
In some embodiments, when the drone is controlled by the flyer to fly, or controlled by the aircraft nest to fly, or fly by itself, when the remote control condition is met, for example, when the situation that the unmanned plane is unfavorable for safe flight, such as a failure or environmental hazard, occurs, in order to reduce the flight risk of the unmanned plane, the control right can be retrieved from the flyer by the management platform, and the unmanned plane is controlled by the management platform to return to the air or safely land.
When the management platform retrieves the control right in the case where the flight control is performed by the flight hand, it may be asked whether the flight hand agrees to give up the control right, and in the case where the flight hand agrees to give up the control right, the control right may be retrieved. Specifically, the management platform may send the query message to the server, and then the server sends the query message to the remote controller of the femto (or the management platform may directly send the query message to the remote controller). The flier can send the agreement message to the server through the remote controller, then the server sends the agreement message to the management platform (or the remote controller can directly send the agreement message to the management platform), and after receiving the agreement message, the management platform transfers the control right to the management platform.
In some embodiments, the management platform further displays a calendar task table on its coupled display screen, the calendar task table including calendar information, i.e. information characterizing date and time, and task information, i.e. unmanned aerial vehicle task related information. The display calendar task list can remind the unmanned aerial vehicle task to be executed, and the user is prevented from forgetting. In other embodiments, a calendar task table may also be displayed in the APP registered by the flyer to remind the flyer to execute the drone task when pressed. FIG. 10 illustrates one form of a calendar task table, and in the embodiment illustrated in FIG. 10 nine days is the current date, i.e., the calendar task table displays tasks for the current date. In other embodiments, tasks for various dates may also be displayed simultaneously.
Fig. 11 is a flowchart of a method for manually controlling a drone to perform a task directly by using a management platform, that is, a drone management control method performed by the management platform, which may be performed by the management platform 100 (e.g., a first controller in the management platform 100) as shown in fig. 11, where the method includes:
1101: and responding to a second input operation of the user, and sending a starting-up instruction to the nest, wherein the starting-up instruction is used for indicating the nest to start the unmanned aerial vehicle.
In some embodiments, a display screen coupled to the management platform may display a map of an area and at least one cell distributed in the map, and a user may know the location of the cell through the map. Figure 12 illustrates exemplary locations of management platforms and nests in a map.
In some embodiments, the user may also view the status of the nest and/or the status of the drone through the display screen, for example, the lid status (on or off), the nest master control board status (normal or abnormal), the drone charging status (charging completed or charging in progress), and the drone status (normal or abnormal), among others.
In actual use, the nest status and the drone status may be displayed by a fourth input operation entered by the user (e.g., the user hovers a mouse over a nest icon, or clicks a nest icon in a map with a mouse, or clicks a nest icon on a screen with a touch screen).
In other embodiments, the state of the nest may be displayed first when the user clicks, clicks or hovers over the nest icon, and if the user finds that the state of the nest is normal and the nest has an idle drone, the state of the drone is displayed again when the user clicks or hovers over the nest.
In the embodiment shown in fig. 13, when the user clicks on the nest icon, a window pops up and displays the nest status and the drone status on the window.
The user can select one or more nests with idle unmanned aerial vehicles according to the flight tasks to be executed by the user and the positions of the nests. Through showing map and machine nest position at the display screen to and machine nest state and unmanned aerial vehicle state, can the convenience of customers judge unmanned aerial vehicle position and flight condition, thereby select out the unmanned aerial vehicle of suitable flight task.
After the user selects the nest and the unmanned aerial vehicle, a second input operation can be input through the input device of the management platform, and a starting instruction is sent to the corresponding nest, so that the unmanned aerial vehicle can be started by the nest. For example, the management platform may generate a boot instruction in response to a click or a click operation by clicking a "one-touch-off" button displayed on the display screen through a mouse or clicking the "one-touch-off" button on the touch screen through the touch screen, and transmit the boot instruction to the cell.
Specifically, in some embodiments, a pressing mechanism may be disposed on the nest, and when the nest receives the start instruction, the pressing mechanism is instructed to press a start key of the unmanned aerial vehicle, so as to start the unmanned aerial vehicle.
1102: when the state of the unmanned aerial vehicle in the nest is normal, a release instruction is sent to the nest, and the release instruction is used for indicating the nest to release the constraint on the unmanned aerial vehicle so that the unmanned aerial vehicle takes off from the nest.
In some embodiments, the unmanned aerial vehicle may perform self-detection after being powered on, for example, whether each component is normal, whether the battery temperature is too high, whether the battery power is too low, and the like.
And after the self-checking is successful, sending a self-checking success message to the management platform, or sending a self-checking success message of the unmanned aerial vehicle to the management platform by the airframe. After receiving the self-checking success message of the unmanned aerial vehicle, the management platform can determine that the unmanned aerial vehicle can normally execute a flight task. Then, a release instruction is generated and sent to the nest, so that the nest releases the constraint on the drone (for example, a cover of the nest is opened) and the drone takes off from the nest.
Make unmanned aerial vehicle pass through after the self-checking, release the aircraft nest again and to unmanned aerial vehicle's restraint, make it take off, can reduce the flight risk that unmanned aerial vehicle caused because of self trouble at the flight in-process, and carry out automatic control, simple convenient to the aircraft nest by management platform.
In other embodiments, after the self-check of the unmanned aerial vehicle is successful, the unmanned aerial vehicle can directly notify the nest that the self-check of the unmanned aerial vehicle is successful, and the nest releases the constraint on the unmanned aerial vehicle, so that the unmanned aerial vehicle takes off.
If the unmanned aerial vehicle fails in self-checking, the unmanned aerial vehicle sends a self-checking failure message to the management platform, and after receiving the message, the management platform prompts a user that the unmanned aerial vehicle is abnormal and cannot complete a flight task, and asks the user to reselect other unmanned aerial vehicles.
1103: and responding to a third input operation of the user, and generating a flight control instruction, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle, and the flight state comprises the flight direction.
After the unmanned aerial vehicle takes off, the user can input a third input operation through the management platform to control the flight state of the unmanned aerial vehicle, for example, the flight attitude, the flight direction and the like of the unmanned aerial vehicle. The flight direction is, for example, ascending, descending, left-turning, right-turning, etc.
The user can control the flight state of the unmanned aerial vehicle through a keyboard (for example, an up key, a down key, a left key and a right key) of the management platform, and the third input operation is an operation of knocking the keyboard by the user. In other embodiments, the touch keys of the unmanned aerial vehicle may also be displayed on a display screen coupled to the management platform, and the unmanned aerial vehicle is controlled by clicking the touch keys with a mouse by a user, and the third input operation is a clicking operation on the display screen.
According to the unmanned aerial vehicle management control method, the unmanned aerial vehicle can be placed in the airframe, and daily maintenance (such as charging and the like) of the unmanned aerial vehicle is carried out by the airframe. When a user needs to utilize the unmanned aerial vehicle to execute tasks of unfixed air routes such as tracking, shooting and the like, the unmanned aerial vehicle can take off through the control nest, the flight of the unmanned aerial vehicle is controlled through the management platform, and the control method is convenient. And moreover, the daily maintenance of the unmanned aerial vehicle is carried out through the airframe, so that the management and maintenance cost can be reduced.
In some embodiments, if the unmanned aerial vehicle finds that the electric quantity is insufficient or other faults occur in the flying process, intelligent return flight can be performed, and a suitable airframe is searched for landing.
In other embodiments, a fifth input operation may be input by the user through the management platform, the management platform generates a landing instruction based on the fifth input operation, the management platform sends the landing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically searches for a suitable air route and lands to the airframe.
Generally, the drone needs to land to an original nest, that is, a nest corresponding to the drone may land to any idle and open nest in a situation where the nest is common. After the unmanned aerial vehicle descends to the nest, the cover body can be closed by the nest, and the unmanned aerial vehicle starts to be charged.
For example, a "one-touch return" touch button is displayed on a display screen coupled to the management platform, and the unmanned aerial vehicle is triggered to return by touching the button. The fifth input operation is an operation of a touch key, for example, clicking the touch key with a mouse or clicking the touch key with a finger (in this case, the display screen is a touch screen). Also can set up a physics button on management platform, trigger unmanned aerial vehicle through triggering this physics button and return voyage.
In some embodiments, press "a key to return to the journey" button at the user, unmanned aerial vehicle is automatic to return to the journey in-process, and the user can confirm whether unmanned aerial vehicle can descend to the nest safely through watching the video picture, if unmanned aerial vehicle can not descend safely, then can manually control management platform's input device, control unmanned aerial vehicle returns to the nest, if manual also can't accomplish the occasion that descends to the nest, also can descend unmanned aerial vehicle to the space near the nest.
In other embodiments, the landing state of the unmanned aerial vehicle can be monitored by the management platform, and when the unmanned aerial vehicle cannot land safely, alarm information is sent out to prompt a user to manually control the unmanned aerial vehicle to land the airframe.
Of course, when the unmanned aerial vehicle cannot land safely, the unmanned aerial vehicle sends distress information to the management platform, and the management platform sends warning information after receiving the distress information.
This application embodiment is managed unmanned aerial vehicle by management platform in unison, and management platform can add more unmanned aerial vehicle according to actual need, perhaps reduces unmanned aerial vehicle. In order to ensure the network security of the management platform, security verification is required before the nest joins the management platform.
For example, when a cell requests to join a management platform, a verification password needs to be input, and only if the correct verification password is input, the communication connection between the cell and the management platform can be realized, and the cell can be displayed in a map of the management platform.
Fig. 14 shows a specific embodiment of the drone management control method. In the embodiment shown in fig. 14, the management platform generates the power-on command in response to a second input operation of the user, for example, the user clicks the "take-off touch button. And after the management platform generates a starting-up instruction, the starting-up instruction is sent to the nest selected by the user, and the nest enables the unmanned aerial vehicle in the nest to start up.
And the unmanned aerial vehicle is self-checked after being powered on, if the self-check is successful, a self-check success message is sent to the management platform, and after the self-check success message is received by the management platform, a release instruction is sent to the machine nest so that the machine nest releases the unmanned aerial vehicle. If the unmanned aerial vehicle fails in self-checking, a self-checking failure message is sent to the management platform, and after the management platform receives the self-checking failure message, an alarm message is sent to prompt the user that the selected unmanned aerial vehicle is abnormal, and the user can reselect other unmanned aerial vehicles.
If the unmanned aerial vehicle normally takes off, then the user can generate the flight control instruction through inputting the third input operation to the input device of management platform, and the management platform sends the flight control instruction to unmanned aerial vehicle, instructs unmanned aerial vehicle flight. The third input operation is, for example, the user taps up, down, left, and right keys on the keyboard.
If the unmanned aerial vehicle finds itself is abnormal or the environment is abnormal in the flying process, the unmanned aerial vehicle can return to the original nest or other idle nests in an open state for forced landing.
After the unmanned aerial vehicle executes the task, the user can generate a landing instruction by inputting a fifth input operation to the management platform. And a fifth input operation, such as clicking a "touch down button. The management platform sends the descending instruction to unmanned aerial vehicle, and unmanned aerial vehicle automatic descending is not controlled by the management platform at the descending in-process, is descended by unmanned aerial vehicle by oneself. However, when the unmanned aerial vehicle can not land to the nest, the user can manually control the unmanned aerial vehicle to land to the nest through the management platform.
The following describes the working process of the management platform issuing a task to the pilot and the pilot executing a manual airline task or an automatic airline task.
After the management platform issues the tasks to the server, the server stores the issued tasks, and the flyer logs in the APP by using the user name and the account number to obtain a task list. FIG. 15 illustrates one form of a task list.
And the flyer selects a task to start execution, if the task is an automatic route task, the unmanned aerial vehicle flies according to the automatic route, and the unmanned aerial vehicle returns after the task is finished. If serious abnormity occurs in the flight process, the aircraft can return to the home.
The management platform displays a flight picture of the unmanned aerial vehicle on a display screen coupled with the management platform, the management platform monitors the flight of the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle, if the management platform determines that the unmanned aerial vehicle meets the remote control condition, the management platform inquires whether a flying hand agrees to transfer the flight control right, and after the flying hand agrees, the flight control right is transferred to the management platform.
Embodiments of the present application further provide a method for controlling flight of an unmanned aerial vehicle, where the method may be performed by a nest (for example, a second controller in the nest), as shown in fig. 16, and the method includes:
1601: and receiving an issued task sent by the management platform, wherein the issued task comprises a flight task and flight time.
1602: and when the flight time is reached, starting the unmanned aerial vehicle in the nest.
1603: and when the state of the unmanned aerial vehicle in the nest is normal, releasing the constraint on the unmanned aerial vehicle.
1604: and sending the flight task to an unmanned aerial vehicle, and instructing the unmanned aerial vehicle to execute the flight task.
The management platform sends the issued task to the nest, the nest monitors the execution time of the issued task after acquiring the issued task, the unmanned aerial vehicle shuts down and charges in the nest when the flight time is not reached, and the unmanned aerial vehicle in the nest is started when the flight time is reached.
If the unmanned aerial vehicle state is abnormal, the unmanned aerial vehicle or the nest can report an error to the management platform. If the unmanned aerial vehicle state is normal, the nest releases the restraint on the unmanned aerial vehicle. And sending the flight task to the unmanned aerial vehicle, and automatically executing the flight task by the unmanned aerial vehicle.
In some embodiments, whether the state of the unmanned aerial vehicle is abnormal or not is determined through a self-checking program of the unmanned aerial vehicle, the unmanned aerial vehicle performs self-checking after being powered on, if the self-checking is successful, a self-checking success message is sent to the nest, and after the nest receives the self-checking success message of the unmanned aerial vehicle, it can be determined that the unmanned aerial vehicle can normally execute a flight task. The restraint on the drone is released (e.g. the cover of the drone is opened) and the drone is caused to take off from the nest.
After the unmanned aerial vehicle finishes the flight task, the unmanned aerial vehicle descends to the nest, and the unmanned aerial vehicle is closed by the nest and is charged by the unmanned aerial vehicle. If the unmanned aerial vehicle can not normally land to the nest, the nest can give an alarm to the management platform, and the management platform is prompted to control the unmanned aerial vehicle to land by adopting a manual control scheme.
According to the unmanned aerial vehicle management control method and the flight control method, the unmanned aerial vehicle can be placed in the airframe, and daily maintenance (such as charging and the like) of the unmanned aerial vehicle is carried out by the airframe. And the nest acquires tasks from the management platform and controls the unmanned aerial vehicle to take off, and the control method is convenient. And moreover, the daily maintenance of the unmanned aerial vehicle is carried out through the airframe, so that the management and maintenance cost can be reduced.
Embodiments also provide a computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors, such as a first processor 22 in fig. 2, to enable the one or more processors to execute the method for drone management control or the method for drone flight control in any of the above-mentioned method embodiments, such as the method steps 301 to 302 in fig. 3, and the step 1601 and 1604 in fig. 16 described above.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a machine, cause the machine to perform the above-mentioned drone management control method or drone flight control method. For example, the above-described method steps 301 to 302 in FIG. 3, and step 1601 and 1604 in FIG. 16 are performed.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. 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 hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (14)
1. A method for managing and controlling an unmanned aerial vehicle is used for a management platform which is respectively in communication connection with a nest and the unmanned aerial vehicle, and comprises the following steps:
acquiring an unmanned aerial vehicle task;
responding to a first input operation of a user, acquiring an issued task based on the unmanned aerial vehicle task, and sending the issued task to a nest or a server, wherein the issued task also comprises a flyer ID (identity) on the occasion of sending the issued task to the server;
the server is used for storing the issued tasks, and the flyer acquires the issued tasks from the server.
2. The drone management control method of claim 1, wherein the drone mission includes a drone type, a route type, and a flight mission, the route type including an automatic route and a manual route.
3. The drone management control method of claim 1, further comprising: displaying a flight picture of the unmanned aerial vehicle;
in the flight process of the unmanned aerial vehicle, when the unmanned aerial vehicle meets remote control conditions, sending an inquiry message to a remote controller of a flying hand, wherein the inquiry message is used for inquiring whether the flying hand agrees to remotely control the unmanned aerial vehicle;
and under the condition that the flying hand agrees to remotely control the unmanned aerial vehicle, remotely controlling the unmanned aerial vehicle.
4. The drone management control method of claim 1, further comprising:
displaying a calendar task table, wherein the calendar task table comprises calendar information and task information.
5. The drone management control method of claim 1, further comprising:
responding to a second input operation of a user, and sending a starting-up instruction to a nest, wherein the starting-up instruction is used for indicating the nest to start the unmanned aerial vehicle;
when the state of the unmanned aerial vehicle in the nest is normal, sending a release instruction to the nest, wherein the release instruction is used for indicating the nest to release the constraint on the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to take off from the nest;
and responding to a third input operation of the user, and generating a flight control instruction, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle, and the flight state comprises the flight direction.
6. The drone management control method of claim 1, further comprising:
displaying a map and at least one nest located in the map on a display screen coupled to the management platform.
7. The drone management control method of claim 6, further comprising:
and responding to a fourth input operation of the user, and displaying the state of the machine nest and the state of the unmanned aerial vehicle in the machine nest on the display screen.
8. The unmanned aerial vehicle management control method of claim 5, wherein when the state of the unmanned aerial vehicle in the nest is normal, sending a release instruction to the nest comprises:
receiving a self-checking success message of the unmanned aerial vehicle sent by the unmanned aerial vehicle or the nest, and generating the release instruction based on the self-checking success message;
and sending the release instruction to the nest.
9. An unmanned aerial vehicle flight control method for a nest, the method comprising:
receiving an issued task sent by a management platform, wherein the issued task comprises a flight task and flight time;
when the flight time is reached, starting the unmanned aerial vehicle in the nest;
when the unmanned aerial vehicle in the machine nest is in a normal state, releasing the constraint on the unmanned aerial vehicle;
and sending the flight task to an unmanned aerial vehicle, and instructing the unmanned aerial vehicle to execute the flight task.
10. The method of claim 9, wherein releasing the restraint of the drone when the drone in the nest is in a normal state comprises:
and when receiving the self-checking success message sent by the unmanned aerial vehicle, releasing the constraint on the unmanned aerial vehicle.
11. The method according to claim 9 or 10, characterized in that the method further comprises:
after unmanned aerial vehicle descends to the nest, close unmanned aerial vehicle, do unmanned aerial vehicle charges.
12. A management platform, comprising:
at least one first processor, and
a first memory communicatively coupled to the at least one first processor, the first memory storing instructions executable by the at least one first processor to enable the at least one first processor to perform the method of any of claims 1-8.
13. A nest, comprising:
at least one second processor, and
a second memory communicatively coupled to the at least one second processor, the second memory storing instructions executable by the at least one second processor to enable the at least one second processor to perform the method of any of claims 9-11.
14. A computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a machine, cause the machine to perform the method of any one of claims 1-11.
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| CN202110995074.3A CN113741499A (en) | 2021-08-27 | 2021-08-27 | Unmanned aerial vehicle management control method, flight control method, management platform and airframe |
| PCT/CN2022/114554 WO2023025197A1 (en) | 2021-08-27 | 2022-08-24 | Unmanned aerial vehicle management control method, flight control method, management platform, and nest |
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