CN113867408A - Inheritance method and device for unmanned aerial vehicle during task suspension - Google Patents
Inheritance method and device for unmanned aerial vehicle during task suspension Download PDFInfo
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Abstract
The invention discloses an inheritance method and a device for an unmanned aerial vehicle during task suspension, which comprises the steps of selecting an external environment mark in a task execution process, and marking the external environment mark as an inheritance punctuation on a flying line; when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking; when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as the execution section inheriting the backtracking; and after the new machine lights up the effective inherited punctuation in the execution section of the inherited backtracking, the new machine continues to execute the subsequent part of the task. The invention adopts a succession mode to validate partial tasks completed by the former machine, so that a subsequent new machine can quickly complete the whole task when executing the task, thereby effectively reducing the waste of data resources and synchronously improving the task completion efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an inheritance method and device for unmanned aerial vehicle task suspension.
Background
Along with the rise of unmanned aerial vehicles, unmanned aerial vehicles are used for various industries. Unmanned aerial vehicles and various devices carried by the unmanned aerial vehicles can meet various operation requirements which cannot be met by human beings in the past.
In various operation environments, the unmanned aerial vehicle is influenced by environment and self factors, once the unmanned aerial vehicle has problems in the process of executing tasks and cannot continuously execute the tasks, the operation team tends to recover the unmanned aerial vehicle with the problems and send out a new unmanned aerial vehicle to execute the tasks again, and the formulated task requirements can be finished. However, for a newly dispatched unmanned aerial vehicle, the task execution of the new machine and the task execution of the front machine are independent from each other and are not associated, and part of tasks completed by the front machine are often invalidated, so that the front machine does not obviously contribute to the task completed finally, and the waste of data resources is caused.
Disclosure of Invention
The invention aims to provide an inheritance method and a inheritance device for an unmanned aerial vehicle during task suspension, which are used for validating partial tasks completed by a front machine in an inheritance mode, so that a subsequent new machine can quickly complete the whole task when executing the task, the waste of data resources is effectively reduced, and the task completion efficiency is synchronously improved.
According to a first aspect of the present invention, an inheritance method and apparatus for an unmanned aerial vehicle during task suspension are provided, including:
selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on a flying line;
when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking;
when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as the execution section inheriting the backtracking;
and after the new machine lights up the effective inherited punctuation in the execution section of the inherited backtracking, the new machine continues to execute the subsequent part of the task.
Further, selecting an external environment mark in the task execution process, and marking the external environment mark as a succession mark point on the flying route, specifically comprising:
gather the external environment information of unmanned aerial vehicle when cruising, the type of external environment information includes at least: landmarks, beacons;
removing time-varying landmarks and time-varying beacons in the external environment information to form a landmark library;
predefining a selection interval, and matching external environment information of the mark library with the flying line;
selecting an external environment mark in a mark library along the flying line by taking the selected distance as the minimum distance;
marking the selected external environment mark on the flying line, and defining the mark as a succession mark point;
and the marking timestamp of the inheritance punctuation is synchronously defined with the navigation time of the unmanned aerial vehicle, and the inheritance punctuation is associated and bound with the flying route.
Further, the current drone task is aborted when any of the following conditions is met: the endurance of current unmanned aerial vehicle is not enough, the flight ability of current unmanned aerial vehicle is not enough, current unmanned aerial vehicle breaks down, receives the task and stops the instruction.
Further, when detecting that the current unmanned aerial vehicle task is suspended, feeding back task suspension information, synchronously triggering inheritance backtracking, specifically comprising:
when the current unmanned aerial vehicle autonomously sends a task suspension request, additionally triggering an influence condition of task suspension;
responding to a task suspension request of the current unmanned aerial vehicle according to the influence condition, and synchronously feeding back task suspension information after confirming that the task of the current unmanned aerial vehicle is suspended;
predefining an execution section for inheriting backtracking according to the length of the flying route;
and taking the latest inherited punctuation selected by the current unmanned aerial vehicle as a starting point, and backtracking all the inherited punctuations in the execution section.
Further, when receiving the task termination information, reallocating a new machine to execute the task, and defining a task start section as the execution section inheriting the backtracking, which specifically includes:
when the central control end receives the task termination information, acquiring the type of the unmanned aerial vehicle of which the task is terminated;
inquiring the execution function classification of the unmanned aerial vehicles in the standby state, and randomly selecting the unmanned aerial vehicles of the same type as new unmanned aerial vehicles to continue to complete the task;
acquiring all requirements of the task, and dividing the completed part and the uncompleted part;
defining an execution section of the inherited trace back in a completed portion as a start section of an incomplete portion;
and reading the inherited punctuations of the finished part and drawing a rapid route for the new machine.
Further, after the new machine lights up the valid inherited punctuation in the execution section of the inherited backtrack, the new machine continues to execute the subsequent part of the task, including:
inquiring the timestamp and the flying route of the inherited punctuation in the execution section, and identifying the type of the inherited punctuation;
defining landmarks as effective landmarks, defining beacons as auxiliary landmarks and marking inherited landmarks;
fitting the mark of the inherited punctuation mark to the flying line in the execution section, and synchronously displaying along with the flying line
The new aircraft sails along the flying route and sequentially collects external environment parameters at each inherited marking point;
when the new machine captures the parameters of the inherited punctuations in the execution section, lightening the corresponding imprints;
and when the effective punctuations are all lightened, the new machine completes inheritance and continues to execute the subsequent part of the task.
Further, when the validity punctuation is not lighted, inquiring whether auxiliary punctuation around the validity punctuation is lighted:
if the auxiliary punctuations around the effective punctuations are lightened, reselecting the effective punctuations in the region and updating the effective punctuations into the flying route of the new aircraft;
if the auxiliary punctuations around the effective punctuations are not lighted, reselecting the inherited punctuations in the region, reacquiring the task data, and correspondingly updating the inherited punctuations into the flying route of the new aircraft and the completed task data.
According to a second aspect of the present invention, there is provided an apparatus for inheriting when a task of a drone is suspended, including:
the inheritance preparation module: selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on a flying line;
the inheritance triggering module: when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking;
an abort backtracking module: when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as an execution section inheriting backtracking;
a task inheritance module: after the new machine lights up the valid inherited punctuation within the execution section that inherits the backtracking, the new machine continues to execute subsequent portions of the task.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method steps of any of the above first aspects when executing the computer program.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of any of the above first aspects.
The invention has the beneficial effects that:
the invention provides an inheritance method and a device for an unmanned aerial vehicle during task suspension, wherein a part of task route of a previous machine is traced back to serve as an inheritance judgment section of a new machine, and if the new machine can completely inherit the route of the previous machine in the section without problems, the new machine can be competent for subsequent task execution.
When the unmanned aerial vehicle navigates, the inherited punctuation data is synchronously collected as inheritance preparation; after the new machine completes the inheritance of the tasks of the former machine, the subsequent tasks can be executed, and partial task data completed by the former machine is reserved.
Based on the method, whether necessary contact exists between the task termination of the front-end machine and the section can be rapidly checked, and the danger of the area can be effectively judged. And effective reference meaning is provided for subsequent tasks.
Meanwhile, a rapid route can be formulated based on the inheritance punctuation of the former machine, so that the new machine can rapidly reach the execution section of inheritance backtracking, the energy consumption of the new machine is reduced, the inheritance period is shortened, and the overall efficiency of task termination inheritance is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a flowchart of an inheritance method and apparatus for task suspension of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a modular block diagram of an inheritance method and apparatus for task suspension of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is to be understood that the drawings in the following description are merely exemplary of the invention and that other drawings and embodiments can be derived by those skilled in the art without undue burden. The designation of the design orientation merely indicates the relative positional relationship between the respective members, not the absolute positional relationship.
Example one
According to a first aspect of the present invention, there are provided an inheritance method and apparatus for task suspension of an unmanned aerial vehicle, as shown in fig. 1, which is a flowchart of the inheritance method for task suspension of an unmanned aerial vehicle, and includes:
step S101: and selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on the flying line.
In the embodiment of the invention, when the unmanned aerial vehicle executes a task, the unmanned aerial vehicle can acquire external environment information while finishing the task requirement in the process of cruising according to a set route or a self-set route, and the acquired data can comprise landmarks and beacons.
Wherein, the landmark can be an actually existing marker, such as a tree, a billboard, etc.; the beacon can be an electric signal mark, such as an electromagnetic wave signal source, a WiFi signal source and the like.
Some landmarks such as pedestrians, vehicles, etc., have uncertain mobility, are time-varying based on the external environment, have no reference value, and should be rejected. Meanwhile, some beacons, such as mobile phone signals and portable WiFi, also have no reference value and should be removed. After the time-varying sign information is eliminated, the acquired external environment information has reference significance, and can be calibrated according to the route of the unmanned aerial vehicle, so that the real flight route of the unmanned aerial vehicle can be traced.
In the embodiment of the invention, when the marks are acquired, the marks are acquired based on the whole situation, the acquisition quantity is large, and proper marking points are screened and selected and attached to flying routes, so that the backtracking difficulty is reduced, and the inheritance efficiency is improved. Specifically, the selection and marking of the external environment mark comprises the following specific steps:
gather the external environment information of unmanned aerial vehicle when cruising, the type of external environment information includes at least: landmarks, beacons;
removing time-varying landmarks and time-varying beacons in the external environment information to form a landmark library;
predefining a selection interval, and matching external environment information of the mark library with the flying line;
selecting an external environment mark in a mark library along the flying line by taking the selected distance as the minimum distance;
marking the selected external environment mark on the flying line, and defining the mark as a succession mark point;
and the marking timestamp of the inheritance punctuation is synchronously defined with the navigation time of the unmanned aerial vehicle, and the inheritance punctuation is associated and bound with the flying route.
It can be understood that the predefinition of the selected space can be determined according to the complexity of the flight path, if the flight path is complex, the selected space is synchronous and should be small, so that the selected marks can be distributed on the flight path more intensively, and the correlation is improved; if the complexity of the air route is small, the selection distance can be correspondingly increased, and the backtracking and inheritance difficulty possibly existing in the later stage is reduced.
In the embodiment of the invention, when each inherited punctuation mark is marked, the definition of the timestamp can be synchronously carried out according to the time line of the flying route, so that each inherited punctuation mark can have at least one mapping point based on the time line on the flying route.
It will be appreciated that an inherited punctuation, when located in the reentrant angular region of a flight path, is susceptible to multiple grabs, and thus two timestamp definitions appear on the timeline based on the flown flight path, at which point the inherited punctuation has two mapping points. In this case, the time line mapping can be distinguished according to the determination of the capturing distance and the orientation. It is not removed.
The inheritance punctuation mark is associated with the flying route, and the route and the inheritance punctuation mark can be synchronously displayed at the central control end.
Step S102: and when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information and synchronously triggering inheritance backtracking.
In an embodiment of the invention, the task of the current drone should be aborted when the drone has the following, but not limited to all, situations, namely: the endurance of current unmanned aerial vehicle is not enough, the flight ability of current unmanned aerial vehicle is not enough, current unmanned aerial vehicle breaks down, receives the task and stops the instruction. Specifically, the method comprises the following steps:
when the cruising ability of the unmanned aerial vehicle is not enough to support the completion of subsequent tasks, a task suspension request should be actively sent out.
When the flight ability of the unmanned aerial vehicle is insufficient and partial tasks cannot be completed, the unmanned aerial vehicle can actively send out a task stopping request and can also be used for the staff to actively send out a task stopping instruction.
When an unknown and known fault occurs in the unmanned aerial vehicle and affects the proceeding or finishing quality of a subsequent task, the task should be stopped; the degree of influence can be evaluated by staff.
When the unmanned aerial vehicle receives a task stopping instruction issued by the central control end, the task should be stopped; the method is suitable for the situations of task issuing errors, updated task requirements and the like.
In the embodiment of the invention, the task suspension of the unmanned aerial vehicle sends a request to the central control end, and the central control end responds to the task suspension and dispatches a new unmanned aerial vehicle to relay the subsequent tasks of the front machine, so as to synchronize and not discard the task data completed by the front machine. And after the inheritance of the preparation data of the front machine is adopted to complete the inheritance, the continuous execution of the subsequent tasks can be realized.
In the embodiment of the present invention, the task suspension detection of the unmanned aerial vehicle specifically includes:
when the current unmanned aerial vehicle autonomously sends a task suspension request, additionally triggering an influence condition of task suspension;
responding to a task suspension request of the current unmanned aerial vehicle according to the influence condition, and synchronously feeding back task suspension information after confirming that the task of the current unmanned aerial vehicle is suspended;
predefining an execution section for inheriting backtracking according to the length of the flying route;
and taking the latest inherited punctuation selected by the current unmanned aerial vehicle as a starting point, and backtracking all the inherited punctuations in the execution section.
In the embodiment of the invention, the detection and judgment of the task suspension of the unmanned aerial vehicle is to confirm the task suspension of the current unmanned aerial vehicle, and the current unmanned aerial vehicle can synchronously feed back the task suspension information to the central control end. The condition for triggering the task suspension request may be any one of the above cases, and when the unmanned aerial vehicle autonomously sends the task suspension request, an influence condition for triggering task suspension should be added, so that the central control end responds according to the type of the influence condition.
It can be understood that the central control terminal can make different responses to each task termination request according to the deviation of the actual situation, and the specific responses are preliminarily distinguished according to the types of the influencing conditions.
After confirming the task suspension, the execution section for inheriting the backtracking can be predefined according to the length of the flying route, and the length of the execution section has a certain correlation with the task suspension of the front machine, so that the possibility can be eliminated by means of backtracking part of the flight route. Meanwhile, the method of backtracking the route enables the new aircraft to quickly take over the task fuzzy area of the front aircraft and reserve most task data of the front aircraft.
Specifically, all the inherited punctuations in the execution section are traced back in the reverse direction along the timeline with the latest inherited punctuation selected by the former machine as a starting point. After the new aircraft reaches the execution section, the new aircraft can sail again in the execution section along the flying line of the previous aircraft, so that repeated data is less, and the waste of data resources is less.
In the embodiment of the invention, the suspension of the unmanned aerial vehicle task is taken as a judgment condition, and when the task is suspended without passing through the conventional flow, the fact that the task cannot execute the subsequent task can be directly judged. Meanwhile, when the unmanned aerial vehicle has the situation, a beacon mode can be preset, broadcasting is carried out in the area, and fault return-dispatching information is sent; when the new machine grabs the beacon in the way, the new machine can also grab the broadcast signal, respond and send the recovery information aiming at the machine to the central control end.
Step S103: when the task termination information is received, a new machine is redistributed to execute the task, and a task starting section is defined as an execution section inheriting backtracking.
In the embodiment of the invention, when the central control end receives the task suspension information, the front machine can be confirmed to enter the task suspension state, and at the moment, the front machine can enter an autonomous landing mode, a beacon mode, a return mode and the like according to the state of the front machine.
For a new aircraft, the central control end selects the unmanned aerial vehicle of the same type as the previous aircraft as a successor, and continues to execute the unfinished task.
For the task, the central control end clearly divides the finished part and the unfinished part, and simultaneously divides the execution section inheriting the backtracking to prepare for the inheritance of the new machine. When the new machine reaches the execution section, the inheritance operation can be started.
In the embodiment of the invention, the specific steps of re-allocating tasks and dividing the tasks comprise: .
When the central control end receives the task termination information, acquiring the type of the unmanned aerial vehicle of which the task is terminated;
inquiring the execution function classification of the unmanned aerial vehicles in the standby state, and randomly selecting the unmanned aerial vehicles of the same type as new unmanned aerial vehicles to continue to complete the task;
acquiring all requirements of the task, and dividing the completed part and the uncompleted part;
defining an execution section of the inherited trace back in a completed portion as a start section of an incomplete portion;
and reading the inherited punctuations of the finished part and drawing a rapid route for the new machine.
It will be appreciated that the completion status of a task may be divided according to the routes, with routes that acquire task data being defined as completed portions and routes that do not acquire task data being defined as incomplete portions. The boundary point can be the point position on the flying line of the front aircraft mapped by the last inherited punctuation.
Furthermore, for a complex flight path of the front aircraft, a simple flight path can be fitted according to the completed part of inherited punctuations as basic units, and the flight path is defined as a fast flight path, so that the new aircraft can quickly reach an execution section, and the inherited punctuations along the line can be selectively grabbed and matched in the process of navigating along the fast flight path of the new aircraft so as to reflect the timeliness of the task data of the front aircraft.
The new machine with the same type as the previous machine is selected to effectively inherit the completed task data, and inheritance can be completed in an execution section where backtracking is inherited by a smaller difference value, so that the success rate of inheritance is improved, and the task state of the previous machine is better relayed.
Step S104: after the new machine lights up the valid inherited punctuation within the execution section that inherits the backtracking, the new machine continues to execute subsequent portions of the task.
In the embodiment of the invention, after the new aircraft acquires the fast air route, the new aircraft can navigate to the execution section along the fast air route, and the inheritance operation in the execution section is started, so that the task data of the front aircraft and the subsequent task data can be perfectly butted, and meanwhile, the influence of external factors in the section on the unmanned aerial vehicle can be judged by workers.
Specifically, the inheriting operation of the new machine in the execution section specifically includes:
inquiring the timestamp and the flying route of the inherited punctuation in the execution section, and identifying the type of the inherited punctuation;
defining landmarks as effective landmarks, defining beacons as auxiliary landmarks and marking inherited landmarks;
fitting the mark of the inherited punctuation mark to the flying line in the execution section, and synchronously displaying along with the flying line
The new aircraft sails along the flying route and sequentially collects external environment parameters at each inherited marking point;
when the new machine captures the parameters of the inherited punctuations in the execution section, lightening the corresponding imprints;
and when the effective punctuations are all lightened, the new machine completes inheritance and continues to execute the subsequent part of the task.
It can be understood that when the new machine sequentially lights the validity punctuations of the former machine, it indicates that the new machine can relay the completed task data of the former machine, and at the same time, the influence of the external factors in the execution section on the unmanned aerial vehicle is controllable, and the task termination of the former machine and the external factors in the execution section should not have necessary association.
In the embodiment of the invention, the possibility of losing the effective punctuations easily exists, and the effective punctuations can be compensated or reconstructed, and the specific steps comprise:
when the effective punctuation is not lightened, inquiring whether auxiliary punctuation around the effective punctuation is lightened or not:
if the auxiliary punctuations around the effective punctuations are lightened, reselecting the effective punctuations in the region and updating the effective punctuations into the flying route of the new aircraft;
if the auxiliary punctuations around the effective punctuations are not lighted, reselecting the inherited punctuations in the region, reacquiring the task data, and correspondingly updating the inherited punctuations into the flying route of the new aircraft and the completed task data.
The effective punctuations and auxiliary punctuations which are not lighted are checked one by one, and whether the task termination of the front machine is influenced or not is judged.
In the embodiment of the invention, when marking, the marking can be distinguished according to the type of the inherited landmark, the landmark can be designed into the shape mark according to the type of the landmark, and the beacon can be designed into the corresponding icon mark according to the basic attribute/bearing object of the beacon. When all the marks are not lighted, the marks are only weakly dominant lines, and when the marks are lighted, the marks can have definite boundaries, colors and the like.
In the embodiment of the invention, the new aircraft can capture the parameters of the inherited punctuations at corresponding positions one by one along the time line of the flying route of the previous aircraft in the execution section of the inherited backtracking, and the parameters are compared and matched with the inherited punctuations acquired by the previous aircraft, and if the matching is completed, the corresponding marks are lightened; for the condition that one inherited punctuation maps a plurality of point locations on the flying line, the lighting trigger mapping relation of the inherited punctuation can be associated with the lighting times, so that the inquiry and the calling are facilitated.
In the embodiment of the invention, if only the effective punctuations are missing, the effective punctuations can be reselected by a new machine to carry out inheritance preparation operation. If the synchronization of the effective punctuations and the auxiliary punctuations around the effective punctuations is exact, the new machine can detect the task data of the region again to obtain, reselect the inherited punctuations and correspondingly update the corresponding data.
Example two
According to a second aspect of the invention, there is provided an apparatus for inheriting when a task of a drone is suspended. As shown in fig. 2, a modular block diagram of an inheritance device when a task of an unmanned aerial vehicle is suspended includes:
the inheritance preparation module 201: selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on a flying line;
the inheritance trigger module 202: when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking;
the abort backtracking module 203: when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as an execution section inheriting backtracking;
the task inheritance module 204: after the new machine lights up the valid inherited punctuation within the execution section that inherits the backtracking, the new machine continues to execute subsequent portions of the task.
It can be understood that the apparatuses provided in the embodiments of the present invention are all applicable to the method described in the first embodiment, and specific functions of each module may refer to the above method flow, which is not described herein again.
EXAMPLE III
The electronic device provided by the embodiment of the invention is used for realizing the method in the first embodiment. Fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: the system comprises at least one central processing unit, at least one network interface, a control interface, a memory and at least one communication bus.
The communication bus is used for realizing connection communication and information interaction among the components.
The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface).
The control interface is used for outputting control operation according to the instruction.
The central processor may include one or more processing cores. The central processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data according to the method described in the first embodiment by executing or executing instructions, programs, code sets, or instruction sets stored in the memory, and calling data stored in the memory.
The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), methods for implementing the first embodiment, and the like; the storage data area may store data and the like referred to in the above respective method embodiments.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of the first of the above-mentioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
It is noted that, herein, 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 foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the specific embodiments of the invention be limited to these descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An unmanned aerial vehicle task inheritance method and device during suspension are characterized by comprising the following steps:
selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on a flying line;
when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking;
when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as the execution section inheriting the backtracking;
and after the new machine lights up the effective inherited punctuation in the execution section of the inherited backtracking, the new machine continues to execute the subsequent part of the task.
2. The method and device for inheriting during task suspension of the unmanned aerial vehicle according to claim 1, wherein an external environment mark in a task execution process is selected and marked as an inherited punctuation on a flying line, and specifically comprises:
gather the external environment information of unmanned aerial vehicle when cruising, the type of external environment information includes at least: landmarks, beacons;
removing time-varying landmarks and time-varying beacons in the external environment information to form a landmark library;
predefining a selection interval, and matching external environment information of the mark library with the flying line;
selecting an external environment mark in a mark library along the flying line by taking the selected distance as the minimum distance;
marking the selected external environment mark on the flying line, and defining the mark as a succession mark point;
and the marking timestamp of the inheritance punctuation is synchronously defined with the navigation time of the unmanned aerial vehicle, and the inheritance punctuation is associated and bound with the flying route.
3. The method and apparatus for inheriting during task suspension of an unmanned aerial vehicle according to claim 1, wherein when any one of the following conditions is satisfied, the current task of the unmanned aerial vehicle is suspended: the endurance of current unmanned aerial vehicle is not enough, the flight ability of current unmanned aerial vehicle is not enough, current unmanned aerial vehicle breaks down, receives the task and stops the instruction.
4. The method and device for inheritance during task suspension of an unmanned aerial vehicle as claimed in claim 1, wherein when detecting that a current task of the unmanned aerial vehicle is suspended, task suspension information is fed back, and inheritance backtracking is triggered synchronously, specifically comprising:
when the current unmanned aerial vehicle autonomously sends a task suspension request, additionally triggering an influence condition of task suspension;
responding to a task suspension request of the current unmanned aerial vehicle according to the influence condition, and synchronously feeding back task suspension information after confirming that the task of the current unmanned aerial vehicle is suspended;
predefining an execution section for inheriting backtracking according to the length of the flying route;
and taking the latest inherited punctuation selected by the current unmanned aerial vehicle as a starting point, and backtracking all the inherited punctuations in the execution section.
5. The method and apparatus of claim 1, wherein when receiving task suspension information, a new machine is reallocated to execute the task, and a task start section is defined as an execution section of the inherited backtracking, and specifically includes:
when the central control end receives the task termination information, acquiring the type of the unmanned aerial vehicle of which the task is terminated;
inquiring the execution function classification of the unmanned aerial vehicles in the standby state, and randomly selecting the unmanned aerial vehicles of the same type as new unmanned aerial vehicles to continue to complete the task;
acquiring all requirements of the task, and dividing the completed part and the uncompleted part;
defining an execution section of the inherited trace back in a completed portion as a start section of an incomplete portion;
and reading the inherited punctuations of the finished part and drawing a rapid route for the new machine.
6. The method and apparatus of claim 2, wherein after the new machine lights up valid inherited punctuations within the execution section of the inherited backtracking, the new machine continues to execute subsequent parts of the task, comprising:
inquiring the timestamp and the flying route of the inherited punctuation in the execution section, and identifying the type of the inherited punctuation;
defining landmarks as effective landmarks, defining beacons as auxiliary landmarks and marking inherited landmarks;
fitting marks of the inherited punctuations to a flying route in an execution section, synchronously displaying the new aircraft along the flying route along with the flying route, and sequentially collecting external environment parameters at the inherited punctuations;
when the new machine captures the parameters of the inherited punctuations in the execution section, lightening the corresponding imprints;
and when the effective punctuations are all lightened, the new machine completes inheritance and continues to execute the subsequent part of the task.
7. The method and apparatus of claim 6, wherein when a valid punctuation is not lit, querying whether auxiliary punctuations surrounding the valid punctuation are lit:
if the auxiliary punctuations around the effective punctuations are lightened, reselecting the effective punctuations in the region and updating the effective punctuations into the flying route of the new aircraft;
if the auxiliary punctuations around the effective punctuations are not lighted, reselecting the inherited punctuations in the region, reacquiring the task data, and correspondingly updating the inherited punctuations into the flying route of the new aircraft and the completed task data.
8. An unmanned aerial vehicle task inheritance method and device during suspension are characterized by comprising the following steps:
the inheritance preparation module: selecting an external environment mark in the task execution process, and marking the external environment mark as a succession punctuation on a flying line;
the inheritance triggering module: when the task of the current unmanned aerial vehicle is detected to be stopped, feeding back task stopping information, and synchronously triggering inheritance backtracking;
an abort backtracking module: when receiving the task termination information, reallocating a new machine to execute the task, and defining a task starting section as an execution section inheriting backtracking;
a task inheritance module: after the new machine lights up the valid inherited punctuation within the execution section that inherits the backtracking, the new machine continues to execute subsequent portions of the task.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the method and apparatus for inheriting when a task of a drone is suspended according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method and apparatus for inheriting when a task of a drone is suspended according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016528A (en) * | 2022-05-23 | 2022-09-06 | 贵州丰立空间科技有限公司 | Photovoltaic board inspection system based on unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016528A (en) * | 2022-05-23 | 2022-09-06 | 贵州丰立空间科技有限公司 | Photovoltaic board inspection system based on unmanned aerial vehicle |
| CN115016528B (en) * | 2022-05-23 | 2023-03-10 | 贵州丰立空间科技有限公司 | Photovoltaic board inspection system based on unmanned aerial vehicle |
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