CN114967762A - Material throwing method, device and system based on four-axis aircraft - Google Patents
Material throwing method, device and system based on four-axis aircraft Download PDFInfo
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Abstract
The utility model relates to the technical field of unmanned aerial vehicles, and provides a material throwing method, device and system based on a quadcopter. The method comprises the following steps: receiving a material throwing task, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points and information of materials to be thrown, which corresponds to each preset material throwing point, and the information of the materials to be thrown comprises the type and the throwing amount of the materials to be thrown; decomposing the material throwing task to obtain a plurality of throwing subtasks and distributing the throwing subtasks to a plurality of target slave aircrafts so that each target slave aircraft executes the corresponding throwing subtasks and transmits task execution information back to the master aircraft; and transmitting the task execution information of each target from the aircraft and the target to the ground main control equipment. The method and the device can timely, quickly and accurately throw the goods and materials to each preset goods and materials throwing point in the goods and materials throwing area.
Description
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicles, in particular to a material throwing method, device and system based on a quadcopter.
Background
In order to ensure that the emergency treatment system can quickly respond to sudden public events such as natural disasters, accident disasters, social security events and the like, casualties and economic losses are reduced as much as possible, and timely and accurate throwing of disaster relief materials to disaster areas is a critical disaster emergency treatment link.
The traditional throwing mode of disaster relief supplies is slow in speed and untimely in throwing, and due to the lack of special management and classification and other reasons, the accuracy of the throwing of supplies is low.
Disclosure of Invention
In view of this, the embodiment of the disclosure provides a method, a device and a device for throwing goods and materials based on a quadcopter, so as to solve the problems that the existing method for throwing disaster relief goods and materials is slow in speed and untimely in throwing, and the accuracy of throwing the goods and materials is low due to the lack of special management and classification and the like.
In a first aspect of the disclosed embodiments, there is provided a material throwing method based on a quadcopter, including:
receiving a material throwing task issued by ground main control equipment, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points and information of materials to be thrown corresponding to each preset material throwing point, and the information of the materials to be thrown comprises the type and the throwing amount of the materials to be thrown;
decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information;
and transmitting the task execution information of each target slave aircraft and the task execution information of each target slave aircraft to the ground main control equipment, so that the ground main control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information.
In a second aspect of the disclosed embodiments, there is provided a material throwing apparatus, including:
the receiving module is configured to receive a material throwing task issued by the ground main control equipment, the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and to-be-thrown material information corresponding to each preset material throwing point, and the to-be-thrown material information comprises the material type and the throwing amount of the to-be-thrown material;
the decomposition module is configured to decompose the material throwing task to obtain a plurality of throwing subtasks, distribute the plurality of throwing subtasks to the plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmit task execution information back to the master aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information;
the transmission module is configured to transmit the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment, so that the ground main control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information.
In a third aspect of the disclosed embodiments, there is provided a material casting system, including:
the main aircraft comprises the material throwing device;
the system comprises a plurality of target slave aircrafts, a master aircraft and a plurality of target slave aircrafts, wherein each target slave aircraft is respectively in communication connection with the master aircraft;
and the ground master control equipment is in communication connection with the main aircraft and each target slave aircraft respectively.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the beneficial effects of the embodiment of the disclosure at least comprise: the method comprises the steps that a material throwing task issued by ground main control equipment is received, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points and material information to be thrown corresponding to each preset material throwing point, and the material information to be thrown comprises the material type and the throwing amount of the material to be thrown; decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information; and transmitting the task execution information of each target slave aircraft and the task execution information of each target slave aircraft to the ground master control equipment, so that the ground master control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information, and can throw the materials to each preset material throwing point in the material throwing area timely, quickly and accurately.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a material tossing method based on a quadcopter according to an embodiment of the present disclosure;
fig. 3 is a schematic distribution diagram of predetermined material throwing points of a material throwing area in a material throwing method based on a quadcopter according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a material throwing device according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a material dropping system provided in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
Hereinafter, a method, a device and a system for throwing goods and materials based on a quadcopter according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a scene schematic diagram of an application scenario according to an embodiment of the present disclosure. The application scenario may include a master aircraft 101, a target slave aircraft 102, a target slave aircraft 103, a target slave aircraft 104, a ground master device 105, and a network 106.
The main aircraft 101, the target slave aircraft 102, the target slave aircraft 103, and the target slave aircraft 104 are quadcopters including a rack, a driving motor, a master control module (for example, an STM32F405 chip may be used), a wireless communication module, an image capturing device (such as a camera), a positioning module (such as a GPS), a barometric sensor, an accelerometer, a gyroscope, a magnetometer, and the like. The master control module of the master aircraft 101 has better computational performance than the master control modules of the target slave aircraft 102, the target slave aircraft 103, and the target slave aircraft 104.
The target slave aircraft 102, the target slave aircraft 103 and the target slave aircraft 104 may be quadcopters with the same structure or quadcopters with different structures.
The ground main control device 105 may be a server providing various services, for example, a background server receiving a request sent by the host aircraft 101 that establishes a communication connection with the ground main control device, and the background server may receive and analyze the request sent by the host aircraft 101, and generate a processing result. The server may be one server, or a server cluster composed of a plurality of servers, or may also be one cloud computing service center, which is not limited in this disclosure.
The server may be hardware or software. When the server is hardware, it may be various electronic devices for providing various services. When the server is software, it may be a plurality of software or software modules that provide various services for the host aircraft 101, or may be a single software or software module that provides various services for the host aircraft 101, which is not limited by the embodiments of the present disclosure.
The ground master control device 105 may also be a terminal device. The terminal device may be various electronic devices having a display screen and supporting communication with the host aircraft 101, such as a smart phone, a computer, a laptop portable computer, a desktop computer, and the like. Or may be software installed in the electronic device described above.
The network 106 may be a wireless communication network such as bluetooth, 2.4G module, 433M module, 868M module, WiFi, etc.
The main aircraft 101 receives a material throwing task issued by the ground main control equipment 105, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and information of materials to be thrown corresponding to each preset material throwing point, and the information of the materials to be thrown comprises the type and the throwing amount of the materials to be thrown; then, decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the plurality of throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtasks, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information; and then, transmitting the task execution information of each target slave aircraft and the task execution information of each target slave aircraft to the ground main control equipment, so that the ground main control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information. Through the mode, the quadcopter can be utilized to throw the goods and materials to each preset goods and materials throwing point in the goods and materials throwing area in time, quickly and accurately.
It should be noted that the specific types, numbers, and combinations of the master aircraft 101, the target slave aircraft 102, the target slave aircraft 103, the target slave aircraft 104, the ground master control device 105, and the network 106 may be adjusted according to actual requirements of an application scenario, which is not limited in this disclosure.
Fig. 2 is a schematic flow chart of a material tossing method based on a quadcopter according to an embodiment of the present disclosure. The quadcopter-based material casting method of fig. 2 may be performed by the main aircraft 101 of fig. 1. As shown in fig. 2, the method for casting goods and materials based on the quadcopter comprises the following steps:
step S201, receiving a material throwing task issued by ground main control equipment, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and to-be-thrown material information corresponding to each preset material throwing point, and the to-be-thrown material information comprises material types and throwing amounts of the to-be-thrown materials.
The material throwing area generally refers to some areas where sudden public events such as natural disasters, accident disasters, social security events and the like occur (such as XX villages in XX district XX town XX village in XX city in XX province).
The predetermined material dropping point generally refers to a specific material dropping position within the material dropping area. With reference to fig. 3, the material throwing area a is provided with 4 predetermined material throwing points (i), ii, iii and iv). The number and the positions of the preset material throwing points can be comprehensively determined according to the specific geographical position of the material throwing area, the disaster situation and the like. Generally, the predetermined material throwing point is required to be arranged at a place which is flat and open and is convenient for disaster-stricken personnel to take materials. For areas suffering from serious disasters, the number of predetermined material throwing points is generally greater than that of areas suffering from slight disasters.
The type of material to be thrown includes, but is not limited to, food, medicine, household items, first aid items, and the like.
The throwing amount may refer to the amount or weight of the material to be thrown. For example, the materials to be thrown are instant noodles and drinking water, wherein the number of the instant noodles is 100 boxes, and the drinking water is 200 bottles (500 mL/bottle).
As an example, after receiving a disaster relief notification issued by a disaster relief department, the ground main control device may create a material throwing task according to information of a disaster area location, required materials, and the like of the disaster relief notification, and issue the material throwing task to the main aircraft. For example, suppose that a ground main control device receives a disaster relief notification, and the disaster area location of the disaster relief notification is an area a in first province, second city, etc., wherein (i), (ii), (iii) and (iv) in the area a are main disaster area points, and the required materials of each disaster area point are respectively: firstly, materials are needed to be food and medicine; secondly, the materials are food and first-aid articles; thirdly, the required materials are food, medicine and articles for daily use; fourthly, the materials are needed to be food. In addition, the disaster relief notification also notes that: the number of people suffering from the disaster is about y1, the number of people suffering from the disaster is about y2, the number of people suffering from the disaster is about y3, and the number of people suffering from the disaster is about y 4. After the ground main control equipment receives the disaster relief notification, the following material throwing tasks can be created according to the information of the disaster area, the required materials and the like: in the material throwing area A, material throwing points are preset, namely food and medicines are preset, wherein the type and the throwing amount of the food are respectively an instant noodle R1 box and a drinking water D1 bottle, and the type and the throwing amount of the medicines are respectively trauma medicines P1 boxes; secondly, the needed materials to be thrown are food and first-aid articles (wherein the type and the throwing amount of the food are respectively an instant noodle R2 box and a drinking water D2 bottle, and the type and the throwing amount of the first-aid medicament are respectively a gauze F roll and a disinfectant S bottle); the needed materials to be thrown are food, medicine and articles for daily use (wherein the type and the throwing amount of the food are respectively an instant noodle R3 box and a drinking water D3 bottle, the type and the throwing amount of the medicine are respectively trauma medicines P2 boxes, and the type and the throwing amount of the articles for daily use are respectively clothes T sleeves); and fourthly, the required materials to be thrown are food (the type and the throwing amount of the food are respectively R4 boxes of instant noodles and D4 bottles of drinking water).
The throwing amount of the required materials of each disaster area can be specifically determined according to the number of people suffering from disasters, the disaster situation and the like of each disaster area. For example, the number of people suffering from a disaster in the disaster area point i is about y1, the amount of food needed to be thrown for the people suffering from a disaster in the disaster area point i for one day is set, one person eats at least 2 tons of instant noodles for each time, and if 10 bags of instant noodles are contained in one box of instant noodles, the amount of food (such as instant noodles) needed in the disaster area point i for one day (in units of boxes) is as follows: r1=2 × y 1/10.
Similarly, the materials needed for the disaster area points (c), (d), and (e) can be specifically determined by referring to the determination method of the materials needed for the disaster area points (c), which is not described herein again.
Step S202, decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information.
In an exemplary embodiment, the step S202 may specifically include the following steps:
splitting a material throwing task into a plurality of throwing subtasks according to a plurality of preset material throwing points, wherein one throwing subtask corresponds to one preset material throwing point, and one throwing subtask is correspondingly configured with task coding information;
acquiring carrying performance information of a plurality of candidate slave aircrafts, and screening a plurality of target slave aircrafts from the plurality of candidate aircrafts according to the carrying performance information;
and distributing each throwing subtask to the target slave aircraft matched with the target carrying performance information and the target throwing material information according to the target carrying performance information and the target throwing material information.
With reference to the above example, after receiving the material throwing task issued by the ground main control device, the main aircraft 101 may split the material throwing task into 4 throwing subtasks according to the predetermined material throwing points (i), (ii), (iii), and (iv). One task code information (which can be information such as task ID, name, letter, number and the like) can be configured for the 4 throwing subtasks respectively. For example, a digital task code can be configured for the 4 casting subtasks respectively: throw subtasks 01, 02, 03, and 04. The throwing subtask 01 corresponds to a preset material throwing point, the throwing subtask 02 corresponds to a preset material throwing point, the throwing subtask 03 corresponds to a preset material throwing point, and the throwing subtask 04 corresponds to a preset material throwing point.
The (target) mounting performance information mainly includes the types of articles that can be mounted on the (target) quadcopter and the maximum weight (i.e., the upper limit value of the mounting weight) of the articles that can be mounted on the (target) quadcopter.
And the candidate slave aircraft generally refers to an aircraft which is determined to be capable of participating in the material throwing task. For example, assuming that the execution time period of the current material throwing task is 10: 00-12: 00, and the time period of 10: 00-12: 00 in the task list of an aircraft K has no task to be executed, it may be determined that the aircraft K is in an idle state at the time period of 10: 00-12: 00, and may participate in the current material throwing task.
As an example, the embarkation performance information of the candidate slave aircraft can be called from a preset aircraft database; then, screening out part or all of the throwing amount of the materials with the carrying performance meeting any one of the preset material throwing points (i), (ii), (iii) or (iv) according to the carrying performance information, and determining the target slave aircraft which can participate in the current material throwing task.
For example, suppose that the candidates determined in the aircraft database to be capable of participating in the material throwing mission include aircraft K1, K2, K3, K4 and K5. The carrying performance information of the aircrafts K1, K2, K3, K4 and K5 all meet the partial or whole throwing amount of any one required material in the preset material throwing points I, II, III or IV. If the main aircraft selects to execute the throwing subtask 01, the remaining throwing subtasks 02, 03 and 04 can select three of the aircrafts K1, K2, K3, K4 or K5 to be allocated to according to the target carrying performance information and the target throwing material information of the aircrafts K1, K2, K3, K4 and K5. For example, the casting subtask 02 is assigned to aircraft K1, casting subtask 03 is assigned to aircraft K2, and casting subtask 04 is assigned to aircraft K3. Of course, any four or five of the aircraft K1, K2, K3, K4 and K5 may be optionally assigned. Generally, the candidate aircraft with the carrying performance capable of meeting the required material throwing amount of a preset material throwing point is preferentially selected as the target slave aircraft, so that the times of repeatedly flying and throwing the materials are reduced, the material throwing cost is saved, and meanwhile, the material throwing efficiency is favorably improved.
The target throwing material information refers to the relevant information of the required materials at each preset material throwing point, such as the type of the required materials, the required throwing amount and the like. Taking a preset material throwing point I as an example, the target material throwing information comprises an instant noodle R1 box, a drinking water D1 bottle and a trauma medicine P1 box.
The predetermined route trajectory information generally refers to flight route planning information of each aircraft from a starting point to a position of a corresponding predetermined material throwing point, and includes a flight direction, a flight mode and the like. The flight modes comprise a self-stabilization mode, a fixed-height mode, a fixed-point mode and an autonomous hovering mode. And in the self-stabilization mode, the attitude angle and the angular speed in the horizontal direction are evaluated and controlled through an inertia measurement unit on the aircraft, so that stable flight is realized. The fixed-height mode realizes the height and speed evaluation control in the vertical direction through a sonar or the speed evaluation control in the vertical direction through a barometer on the basis of a self-stabilizing mode, thereby realizing the fixed-height flight. And the fixed-point mode realizes position and speed evaluation control in the horizontal direction through a Global Positioning System (GPS) on the basis of the fixed-height mode, thereby realizing fixed-point flight. The autonomous hover mode, i.e., flight that automatically maintains the current horizontal position and vertical height for a long period of time, may be implemented via a fixed point mode.
In some embodiments, transmitting each target from the aircraft and its own task performance information to the ground master control device includes:
receiving flight attitude data sent by each target from an aircraft;
judging whether an off-team slave aircraft deviating from a preset formation form exists or not according to the flight attitude data and the preset airline track information;
and if the departing slave aircraft which deviates from the preset formation form does not exist, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
The body coordinate system is a coordinate axis established by taking the self gravity center of the four-axis aircraft as an origin, wherein the X-axis forward direction is positioned in the direction of the nose, the z-axis forward direction is vertically downward of the body, and the Y-axis forward direction is positioned in the right direction based on the right-hand rule.
The flight attitude data mainly comprises attitude angle, angular velocity and acceleration information under a body coordinate system.
As an example, each target slave aircraft can calculate an aircraft body attitude angle based on acceleration, perform quaternion solution by using the angular velocity of a gyroscope in real time, fuse the aircraft body attitude angle and the gyroscope by using a complementary filtering algorithm, and perform fusion correction on a course angle by using three-axis magnetic force information, thereby performing solution on the attitude angle, the angular velocity and the acceleration information under the aircraft body coordinate system in real time to obtain flight attitude data. The flight attitude data is then transmitted to the host aircraft.
When the main aircraft receives the flight attitude data sent by each target slave aircraft, the flight attitude data of each target slave aircraft can be respectively compared with the preset airline track information of each target slave aircraft, and whether the departing slave aircraft deviating from the preset formation form exists is determined according to the comparison result.
Assuming that the main aircraft allocates the throwing subtask 02 to the aircraft K1 (target slave aircraft 01), the throwing subtask 03 to the aircraft K2 (target slave aircraft 02), and the throwing subtask 04 to the aircraft K3 (target slave aircraft 03), taking the target slave aircraft 01 as an example, the predetermined course trajectory information corresponding to the throwing subtask 02 is compared with the flight attitude data reported by the target slave aircraft 01 to determine whether the current position of the target slave aircraft 01 is on the predetermined course trajectory or within the allowable deviation range of the predetermined course trajectory, and further determine whether the target slave aircraft 01 deviates from the predetermined course trajectory.
Similarly, for target slave aircraft 02, 03, the same manner may be used to determine whether they deviate from their corresponding predetermined course trajectories, and will not be described in detail herein.
In practical application, the main aircraft can design a formation form for executing the material throwing task according to information such as a preset material throwing point, a starting point position of the selected target slave aircraft carrying the materials and the like. The formation is a flight formation in which the main aircraft takes each target carrying the materials to be thrown to fly from the starting point position to the respective preset material throwing point and throws the materials. In the formation, each target corresponds to a predetermined route trajectory from the aircraft for performing a respective casting subtask.
As an example, if it is determined that there is no departing slave aircraft deviating from the predetermined formation form according to the flight attitude data of each target slave aircraft and the corresponding predetermined flight path trajectory information thereof, that is, the current position of each target slave aircraft is on the predetermined flight path trajectory thereof or within the allowable deviation range of the predetermined flight path trajectory thereof, the task execution information of each target slave aircraft and itself is transmitted to the ground master control device. The task execution information mainly comprises current position information and material throwing progress information of each aircraft.
As another example, if it is determined that there is at least one departing slave aircraft deviating from a predetermined formation form currently according to the flight attitude data of each target slave aircraft and the corresponding predetermined course trajectory information thereof, issuing a deviation correction instruction to the departing slave aircraft, the deviation correction instruction including expected flight attitude data, so that the departing slave aircraft re-acquires its own current flight attitude data according to the deviation correction instruction, calculates a flight attitude deviation value according to the current flight attitude data and the expected flight attitude data, corrects its current flight trajectory according to the flight attitude deviation value, and returns the deviation correction result to the master aircraft; and if the deviation correcting result determines that the departing slave aircraft returns to the original air route track, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
The desired flight attitude data, which includes primarily a desired attitude angle, a desired angular velocity, and a desired acceleration.
For example, assuming that the current position of the target slave aircraft 01 is found not on the corresponding predetermined course trajectory or is outside the allowable deviation range of the predetermined course trajectory through comparison, the target slave aircraft 01 may be determined as the departing slave aircraft 01. Meanwhile, a deviation rectifying command can be issued to the departing slave aircraft 01, and the deviation rectifying command carries the expected attitude angle, the expected angular velocity and the expected acceleration. After the deviation rectifying instruction is received by the departure slave aircraft 01, the current flight attitude data can be collected and calculated again, so that the condition that the deviation of the deviation from the preset formation form is judged by mistake due to the fact that the flight attitude data collected and calculated in the previous time is wrong is eliminated to a certain extent. And then, calculating the flight attitude deviation value according to the current flight attitude data and the expected flight attitude data. The flight attitude deviation value comprises an attitude angle deviation value, an angular velocity deviation value and an acceleration deviation value. And then, correcting the current flight track according to the flight attitude deviation value so that the current flight track can return to the original course track. For example, assuming that the attitude angle deviation value of the departing aircraft 01 is + t, the angular velocity deviation value is-w, and the acceleration deviation value is + a, the departing aircraft 01 may be returned to the original course trajectory by adjusting the current attitude angle, the current angular velocity, and the current acceleration of the departing aircraft 01 to the desired attitude angle, the desired angular velocity, and the desired acceleration as much as possible by adjusting the current attitude angle, the current angular velocity, and the current acceleration by + t, the current angular velocity, and the current acceleration by-a.
In one case, when the deviation correction result returned from the aircraft 01 after departure is received and the departure slave aircraft 01 is determined to have returned the original route track, the task execution information of each target slave aircraft and the target slave aircraft itself is transmitted to the ground main control equipment.
In another case, if the main aircraft determines that the departing slave aircraft 01 does not return to the original air route track according to the deviation correction result, the flight control authority of the departing slave aircraft 01 is forcibly taken over so as to control and correct the current flight track of the departing slave aircraft 01; when it is determined that the current flight trajectory of the departing slave aircraft 01 has returned to the original flight path trajectory, the flight control authority for the departing slave aircraft 01 is released.
In another case, if the main aircraft takes over the flight control authority of the departing slave aircraft 01 by force, the current flight trajectory of the departing slave aircraft 01 is controlled and corrected, the departing slave aircraft 01 still cannot return to the original fixed air route trajectory, and an abnormal message can be sent to the ground master control device, wherein the abnormal message carries the current flight trajectory, the current flight attitude data, the deviation correction record information and the like of the departing slave aircraft, so that the ground master control device can know the abnormal situation in time and make corresponding countermeasures, and the accurate, rapid and safe delivery of the goods and materials throwing to each preset goods and materials throwing point of the goods and materials throwing area is guaranteed.
In some embodiments, each target slave aircraft executes the corresponding tossing subtask, and transmits task execution information back to the master aircraft, which may specifically include the following steps:
when each target slave aircraft executes a corresponding throwing subtask and flies to reach respective preset material throwing points, starting image acquisition equipment carried by the aircraft body, and acquiring surrounding environment images of the preset material throwing points; and if the situation that no barrier exists at the preset material throwing point is determined according to the surrounding environment image, throwing the target thrown materials carried by the machine body to the preset material throwing point.
If the obstacle exists at the preset material throwing point according to the surrounding environment image, controlling the machine body to descend by the preset height and switching to a hovering mode, and starting image acquisition equipment to shoot again to obtain a new surrounding environment image of the preset material throwing point; if the fact that the barrier still exists at the preset material throwing point is determined according to the new surrounding environment image, searching a new material throwing point according to the new surrounding environment image; and throwing the target throwing object carried by the machine body to a new material throwing point.
In connection with the above example, assume that the master aircraft assigns a casting subtask 02 to aircraft K1 (target slave aircraft 01), casting subtask 03 to aircraft K2 (target slave aircraft 02), and casting subtask 04 to aircraft K3 (target slave aircraft 03). Taking the target slave aircraft 01 to execute the throwing subtask 02 as an example, when the target slave aircraft 01 flies to the sky of a preset material throwing point II according to a preset route track of the throwing subtask 02, image acquisition equipment (such as a camera) carried by the aircraft body is started, and an image of the surrounding environment of the preset material throwing point II is acquired. And then, carrying out image analysis on the surrounding environment image to judge whether a preset material throwing point is present or not. If the judgment result shows that no barrier exists at the preset material throwing point II, throwing the target thrown materials (the instant noodle R2 box, the drinking water D2 bottle, the gauze F roll and the disinfectant S bottle) carried by the machine body to the preset material throwing point II.
If the judgment result is that the preset material throwing point is the obstacle, the machine body can be controlled to descend by the target from the main control module on the aircraft 01 by the preset height (the preset descending height can be flexibly set according to the actual condition, the preset descending height cannot be greater than the safe distance between the aircraft and the ground, and meanwhile, clear images can be shot) and the hovering mode is switched. Hovering mode, i.e. the quadcopter is kept at the current vertical height and the current horizontal position after the control fuselage is lowered to the preset height. And restarting the image acquisition equipment to shoot again to obtain a new surrounding image of the preset material throwing point, performing image analysis on the new surrounding image, and confirming whether the preset material throwing point has the obstacle again to eliminate the previous condition of misjudgment. If the judgment result is that the preset material throwing point still exists, searching a new material throwing point according to the new surrounding environment image. If a new material throwing point is found, the target throwing object carried by the machine body is thrown to the new material throwing point.
In practical application, if the quadcopter cannot carry all the materials required by a certain preset material throwing point at one time, the quadcopter can carry and throw the materials in different times or can cooperatively throw the materials by dispatching a plurality of quadcopters.
Step S203, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment, so that the ground main control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information.
As an example, when receiving the target slave aircraft 01, 02, 03 and task execution information of the target slave aircraft 01, 02, 03 transmitted by the host aircraft and the task execution information of the target slave aircraft, the ground master control device may mark and display real-time position information of the host aircraft and the target slave aircraft 01, 02, 03 in the material throwing area and the material throwing progress information on an electronic map of the material throwing area through the map information recorded by the electronic map of the material throwing area in combination with the task execution information of the host aircraft and the target slave aircraft 01, 02, 03, so that a monitoring person can visually check the material throwing progress of each predetermined material throwing point in the material throwing area and the flight state of each aircraft.
According to the technical scheme provided by the embodiment of the disclosure, a material throwing task issued by a ground main control device is received, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and material information to be thrown corresponding to each preset material throwing point, and the material information to be thrown comprises the material type and the throwing amount of the material to be thrown; decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information; and transmitting the task execution information of each target slave aircraft and the task execution information of each target slave aircraft to the ground master control equipment, so that the ground master control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information, and can throw the materials to each preset material throwing point in the material throwing area timely, quickly and accurately.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 4 is a schematic view of a material throwing device provided in the embodiment of the present disclosure. As shown in fig. 4, the material throwing apparatus includes:
the receiving module 401 is configured to receive a material throwing task issued by a ground main control device, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and information of materials to be thrown corresponding to each preset material throwing point, and the information of the materials to be thrown comprises the type and the throwing amount of the materials to be thrown;
the decomposition module 402 is configured to decompose the material throwing task to obtain a plurality of throwing subtasks, distribute the plurality of throwing subtasks to the plurality of target slave aircrafts, so that each target slave aircraft executes a corresponding throwing subtask, and return task execution information to the master aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and predetermined route track information;
the transmitting module 403 is configured to transmit the task execution information of each target slave aircraft and its own target slave aircraft to the ground main control device, so that the ground main control device labels and displays the real-time position information and the material throwing progress information of the master aircraft and each target slave aircraft in the material throwing area on the electronic map of the material throwing area according to the task execution information.
In some embodiments, the decomposition module 402 includes:
the splitting unit is configured to split the material throwing task into a plurality of throwing subtasks according to a plurality of preset material throwing points, wherein one throwing subtask corresponds to one preset material throwing point, and one throwing subtask corresponds to one task code information;
an acquisition unit configured to acquire embarkation performance information of a plurality of candidate slave aircrafts, and screen out a plurality of target slave aircrafts from the plurality of candidate aircrafts according to the embarkation performance information;
and the matching unit is configured to distribute each throwing subtask to the target slave aircraft matched with the target carrying performance information according to the target throwing performance information and the target throwing goods and materials information.
In some embodiments, transmitting each target from the aircraft and its own task performance information to the ground master control device includes:
receiving flight attitude data sent by each target from an aircraft;
judging whether an off-team slave aircraft deviating from a preset formation form exists or not according to the flight attitude data and the preset airline track information;
and if the departing slave aircraft which deviates from the preset formation form does not exist, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
In some embodiments, determining whether there is a departure from the aircraft from the predetermined formation based on the flight attitude data and the predetermined route trajectory information further comprises:
if at least one departing slave aircraft deviating from the preset formation form exists, issuing a deviation rectifying instruction to the departing slave aircraft, wherein the deviation rectifying instruction comprises expected flight attitude data, so that the departing slave aircraft can gather current flight attitude data of the departing slave aircraft again according to the deviation rectifying instruction, calculate a flight attitude deviation value according to the current flight attitude data and the expected flight attitude data, correct the current flight track according to the flight attitude deviation value, and return a deviation rectifying result to the master aircraft;
and if the deviation correcting result determines that the departing slave aircraft returns to the original air route track, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
If the deviation correcting result determines that the departing slave aircraft does not return to the original air route track, the flight control authority of the departing slave aircraft is taken over forcibly so as to control and correct the current flight track of the departing slave aircraft;
and releasing the flight control authority of the departing slave aircraft when the current flight track of the departing slave aircraft is determined to return to the original route track.
In some embodiments, each target slave aircraft performs its corresponding toss subtask and transmits task performance information back to the master aircraft, including:
when each target slave aircraft executes a corresponding throwing subtask and flies to reach respective preset material throwing points, starting image acquisition equipment carried by the aircraft body, and acquiring surrounding environment images of the preset material throwing points;
and if the situation that no barrier exists at the preset material throwing point is determined according to the surrounding environment image, throwing the target thrown materials carried by the machine body to the preset material throwing point.
If the obstacle exists at the preset material throwing point according to the surrounding environment image, controlling the machine body to descend by the preset height and switching to a hovering mode, and starting image acquisition equipment to shoot again to obtain a new surrounding environment image of the preset material throwing point;
if the fact that the barrier still exists at the preset material throwing point is determined according to the new surrounding environment image, searching a new material throwing point according to the new surrounding environment image;
and throwing the target throwing object carried by the machine body to a new material throwing point.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 5 is a schematic structural diagram of a material throwing system according to an embodiment of the present disclosure. As shown in fig. 5, the material dropping system includes:
a host aircraft 101 comprising a material casting apparatus as shown in figure 4;
a plurality of target slave aircraft 102, 103, 104, each of which is in communication connection with the master aircraft, respectively, the plurality of target slave aircraft being in communication connection with each other;
a ground master control device 105, which is in communication connection with the master aircraft and each of the target slave aircraft, respectively.
Fig. 6 is a schematic diagram of an electronic device 6 provided by an embodiment of the present disclosure. As shown in fig. 6, the electronic apparatus 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601. The steps in the various method embodiments described above are implemented when the computer program 603 is executed by the processor 601. Alternatively, the processor 601 realizes the functions of each module/unit in the above-described apparatus embodiments when executing the computer program 603.
The electronic device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 6 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that fig. 6 is merely an example of an electronic device 6, and does not constitute a limitation of the electronic device 6, and may include more or less components than those shown, or different components.
The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like.
The storage 602 may be an internal storage unit of the electronic device 6, for example, a hard disk or a memory of the electronic device 6. The memory 602 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 6. The memory 602 may also include both internal and external storage units of the electronic device 6. The memory 602 is used for storing computer programs and other programs and data required by the electronic device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A material throwing method based on a four-axis aircraft is characterized by comprising the following steps:
receiving a material throwing task issued by ground main control equipment, wherein the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points and material information to be thrown corresponding to each preset material throwing point, and the material information to be thrown comprises the material type and the throwing amount of the material to be thrown;
decomposing the material throwing task to obtain a plurality of throwing subtasks, distributing the throwing subtasks to a plurality of target slave aircrafts to enable each target slave aircraft to execute the corresponding throwing subtask, and transmitting task execution information back to the main aircraft, wherein each throwing subtask comprises task coding information, target throwing material information and preset route track information;
and transmitting the task execution information of each target slave aircraft and the task execution information of each target slave aircraft to the ground master control equipment, so that the ground master control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information.
2. The method of claim 1, wherein decomposing the material casting mission to obtain a plurality of casting subtasks, and distributing the plurality of casting subtasks to a plurality of target slave aircraft comprises:
splitting the material throwing task into a plurality of throwing subtasks according to the plurality of preset material throwing points, wherein one throwing subtask corresponds to one preset material throwing point, and one throwing subtask is correspondingly configured with task coding information;
acquiring carrying performance information of a plurality of candidate slave aircrafts, and screening a plurality of target slave aircrafts from the candidate aircrafts according to the carrying performance information;
and distributing each throwing subtask to the target slave aircraft matched with the target carrying performance information according to the target carrying performance information and the target throwing goods and materials information.
3. The method of claim 1, wherein transmitting each of the targets from the aircraft and its own mission performance information to the ground master control device comprises:
receiving flight attitude data sent by each target from an aircraft;
judging whether an off-team slave aircraft deviating from a preset formation form exists or not according to the flight attitude data and the preset airline track information;
and if the departing slave aircraft deviating from the preset formation form does not exist, transmitting the task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
4. The method of claim 3, wherein determining whether there is an offboard slave aircraft that deviates from a predetermined formation based on the attitude data and the predetermined course trajectory information, further comprises:
if at least one departing slave aircraft deviating from a preset formation form exists, issuing a deviation rectifying instruction to the departing slave aircraft, wherein the deviation rectifying instruction comprises expected flight attitude data, so that the departing slave aircraft can gather current flight attitude data of the departing slave aircraft again according to the deviation rectifying instruction, calculate a flight attitude deviation value according to the current flight attitude data and the expected flight attitude data, correct the current flight track according to the flight attitude deviation value, and return a deviation rectifying result to the master aircraft;
and if the deviation correcting result determines that the departing slave aircraft returns to the original route track, transmitting task execution information of each target slave aircraft and the target slave aircraft to the ground main control equipment.
5. The method of claim 4, further comprising:
if the deviation correcting result determines that the departing slave aircraft does not return to the original air route track, the flight control authority of the departing slave aircraft is taken over forcibly so as to control and correct the current flight track of the departing slave aircraft;
and when the current flight track of the departing slave aircraft is determined to return to the original route track, releasing the flight control authority of the departing slave aircraft.
6. The method of claim 1, wherein each of the targets performs its corresponding tossing subtask from the aircraft and transmits task performance information back to the host aircraft, comprising:
when each target slave aircraft executes a corresponding throwing subtask and flies to reach a respective preset material throwing point, starting image acquisition equipment carried by a fuselage, and acquiring an ambient image of the preset material throwing point;
and if the situation that no barrier exists at the preset material throwing point is determined according to the surrounding environment image, throwing the target throwing materials carried by the machine body to the preset material throwing point.
7. The method of claim 6, wherein each target starts an image acquisition device carried by the fuselage when the aircraft performs the corresponding throwing subtask and flies to reach the respective predetermined material throwing point, and after acquiring the surrounding image of the predetermined material throwing point, the method further comprises:
if the obstacle exists at the preset material throwing point according to the surrounding environment image, controlling the machine body to descend by a preset height and switching to a hovering mode, and starting the image acquisition equipment to shoot again to obtain a new surrounding environment image of the preset material throwing point;
if the fact that the obstacle still exists at the preset material throwing point is determined according to the new surrounding environment image, searching a new material throwing point according to the new surrounding environment image;
and throwing the target throwing object carried by the machine body to the new material throwing point.
8. A material throwing device is characterized by comprising:
the receiving module is configured to receive a material throwing task issued by ground main control equipment, the material throwing task comprises a material throwing area, the material throwing area comprises a plurality of preset material throwing points, and material information to be thrown corresponding to each preset material throwing point, and the material information to be thrown comprises the material type and the throwing amount of the material to be thrown;
the decomposition module is configured to decompose the material throwing task to obtain a plurality of throwing subtasks, distribute the throwing subtasks to a plurality of target slave aircrafts so that each target slave aircraft executes a corresponding throwing subtask and transmits task execution information back to the master aircraft, and each throwing subtask comprises task coding information, target throwing material information and preset route track information;
the transmission module is configured to transmit the task execution information of each target slave aircraft and the target slave aircraft to the ground master control equipment, so that the ground master control equipment marks and displays the real-time position information and the material throwing progress information of the main aircraft and each target slave aircraft in the material throwing area on an electronic map of the material throwing area according to the task execution information.
9. A material casting system, comprising:
a host aircraft including the material casting apparatus of claim 8;
a plurality of target slave aircraft, each target slave aircraft being respectively in communication connection with the master aircraft, the plurality of target slave aircraft being in communication connection with each other;
and the ground master control equipment is in communication connection with the master aircraft and each target slave aircraft respectively.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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