CN117008638A

CN117008638A - Vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium

Info

Publication number: CN117008638A
Application number: CN202311112846.XA
Authority: CN
Inventors: 张芃芃; 郭亮; 王劲; 董继鹏; 董杰
Original assignee: Shenzhen Huku Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Current assignee: Shenzhen Huku Technology Co ltd; Zhejiang Geely Holding Group Co Ltd
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2023-11-07

Abstract

The application discloses a vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium, relates to the technical field of vehicle-mounted unmanned aerial vehicles, and aims to solve the problem that the calculation resources are insufficient when the vehicle-mounted unmanned aerial vehicle executes the tasks at present. In addition, the application also divides the task to be executed into real-time task and non-real-time task; real-time tasks with stronger timeliness are processed locally on the unmanned aerial vehicle, so that the influence on the timeliness of the tasks due to the delay of data transmission is reduced; and the non-real-time task with relatively weak timeliness is handed to the vehicle-mounted equipment with relatively abundant computing resources for execution, so that the full utilization of the computing resources is ensured to the greatest extent, and the overall efficiency in the unmanned aerial vehicle task execution process is improved.

Description

Vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium

Technical Field

The application relates to the technical field of vehicle-mounted unmanned aerial vehicles, in particular to a vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium.

Background

With the continuous development of unmanned aerial vehicle technology and sensor technology, unmanned aerial vehicles have been widely used in numerous fields such as agriculture, aerial photography, logistics, rescue and the like. In practical application, unmanned aerial vehicles commonly complete complex tasks issued in the field in a cluster mode.

In current unmanned aerial vehicle applications, vehicular unmanned aerial vehicles are a common way of applying unmanned aerial vehicles. The vehicle-mounted unmanned aerial vehicle takes the vehicle as a unit, a user gives a control instruction to the unmanned aerial vehicle based on control equipment such as handheld equipment and the like, and the vehicle does not provide a movable take-off and landing place for the unmanned aerial vehicle. In general, in order to meet the requirements of taking off and landing, controlling and storing unmanned aerial vehicles, a vehicle is usually provided with the unmanned aerial vehicle. Therefore, when the unmanned aerial vehicle cluster completes a complex task, a plurality of vehicles are also required to complete the task in a matched manner.

However, although the current vehicle-mounted computing resources are relatively abundant, the computing resources between the vehicle-mounted equipment and the unmanned aerial vehicle cannot be fully utilized in the task execution process of the unmanned aerial vehicle, the computing resources between the vehicle-mounted equipment and the unmanned aerial vehicle are not shared, a plurality of information islands are formed between the vehicle-mounted equipment and the unmanned aerial vehicle, and when a high-operand task is encountered, the problem of insufficient computing resources possibly occurs only by the unmanned aerial vehicle, so that the normal execution of the task is affected. Especially for search and rescue tasks, etc., the lag caused by insufficient computing resources is even less tolerable.

Therefore, a need exists for a vehicle-mounted unmanned aerial vehicle control method that solves the problem that the normal execution of tasks may be affected due to insufficient computing resources when the vehicle-mounted unmanned aerial vehicle executes the tasks.

Disclosure of Invention

The application aims to provide a vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium, so as to solve the problem that normal execution of tasks is possibly affected due to insufficient computing resources when the vehicle-mounted unmanned aerial vehicle executes the tasks.

In order to solve the technical problems, the application provides a vehicle-mounted unmanned aerial vehicle control method, which is applied to a vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle, and the vehicle-mounted equipment is in communication connection with the unmanned aerial vehicle and comprises the following steps:

acquiring a task to be executed;

decomposing a task to be executed into a real-time task and a non-real-time task;

and sending the real-time task to the unmanned aerial vehicle for execution, and sending the non-real-time task to the vehicle-mounted equipment for execution.

In another aspect, the method further comprises:

communication connections are established with other vehicular drone systems in the vehicular drone cluster to share computing resources.

On the other hand, when receiving the communication connection establishment request sent by other vehicle-mounted unmanned aerial vehicle systems, the method further comprises the following steps:

Verifying identity information of a requesting party on-board unmanned aerial vehicle system;

and after the identity information passes the verification, establishing communication connection with the vehicle-mounted unmanned aerial vehicle system of the requesting party.

On the other hand, the vehicle-mounted unmanned aerial vehicle system also comprises handheld equipment, and the handheld equipment is in communication connection with the unmanned aerial vehicle and the vehicle-mounted equipment; sending the non-real-time task to the vehicle-mounted device for execution includes:

and sending the non-real-time task to the vehicle-mounted equipment and the handheld equipment for execution.

On the other hand, the task to be executed is a search and rescue task; the method further comprises the steps of:

acquiring search and rescue situation information; wherein, search and rescue situation information includes: search and rescue equipment information, search and rescue equipment and personnel distribution information, search and rescue target position information and search and rescue target environment information;

and displaying the search and rescue situation information through the vehicle-mounted equipment and/or the handheld equipment.

In another aspect, an unmanned aerial vehicle includes an image recognition module; the method further comprises the steps of:

acquiring image data through an image recognition module;

performing depth estimation calculation on the image data to obtain depth data;

an obstacle is identified from the depth data.

In another aspect, the method further comprises:

acquiring flight data and real-time tasks of the unmanned aerial vehicle;

determining a flight control instruction according to the flight data and the real-time task, and controlling the unmanned aerial vehicle to fly through the flight control instruction;

The flight data comprise depth data, flight attitude information of the unmanned aerial vehicle and unmanned aerial vehicle state information.

In order to solve the technical problems, the application also provides a vehicle-mounted unmanned aerial vehicle control method which is applied to a vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, wherein the vehicle-mounted unmanned aerial vehicle systems comprise vehicle-mounted equipment and unmanned aerial vehicles, and the method comprises the following steps:

receiving a cluster task and decomposing the cluster task;

according to the decomposition result, reserving tasks to be executed corresponding to the self, and sending other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster so as to facilitate the self and the other vehicle-mounted unmanned aerial vehicle systems to execute the following steps:

acquiring a task to be executed;

In another aspect, the method further comprises:

acquiring computing resource use information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems;

according to the computing resource use information, allocating the task to be executed which is not completed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems to the vehicle-mounted unmanned aerial vehicle system with idle computing resources.

On the other hand, after receiving the cluster task, the method further comprises:

the information of the cluster task is sent to other vehicle-mounted unmanned aerial vehicle systems so that the other vehicle-mounted unmanned aerial vehicle systems can judge whether to store the organization relation corresponding to the cluster task according to whether to accept the cluster task; wherein, the organization relation includes: each vehicle-mounted unmanned aerial vehicle system corresponding to the cluster task;

the obtaining of the computing resource use information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems comprises the following steps:

acquiring computing resource use information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems under the same organization;

according to the computing resource usage information, allocating the unfinished tasks to be executed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems until idle computing resources exist comprises the following steps:

and allocating the unfinished tasks to be executed in the vehicle-mounted unmanned aerial vehicle systems under the same organization and other vehicle-mounted unmanned aerial vehicle systems under the same organization to the vehicle-mounted unmanned aerial vehicle systems with idle computing resources under the same organization.

On the other hand, the obtaining of the computing resource usage information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems under the same organization comprises the following steps:

acquiring computing resource use information of each other vehicle-mounted unmanned aerial vehicle system and idle vehicle-mounted unmanned aerial vehicle systems under the same organization; the idle vehicle-mounted unmanned aerial vehicle system is a vehicle-mounted unmanned aerial vehicle system without organization relation;

The vehicle-mounted unmanned aerial vehicle system for allocating the unfinished tasks to be executed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems in the same organization to the idle computing resources existing in the same organization comprises the following steps:

and allocating the unfinished tasks to be executed to an idle vehicle-mounted unmanned aerial vehicle system or a vehicle-mounted unmanned aerial vehicle system with idle computing resources under the same organization.

In another aspect, the method further comprises:

when a tissue detachment instruction is received, the tissue relationship is deleted.

In order to solve the technical problems, the application also provides a vehicle-mounted unmanned aerial vehicle control device which is applied to a vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle, and the vehicle-mounted equipment is in communication connection with the unmanned aerial vehicle; comprising the following steps:

the task acquisition module is used for acquiring a task to be executed;

the task decomposition module is used for decomposing the task to be executed into a real-time task and a non-real-time task;

the task allocation module is used for sending the real-time task to the unmanned aerial vehicle for execution and sending the non-real-time task to the vehicle-mounted equipment for execution.

In order to solve the technical problems, the application also provides a vehicle-mounted unmanned aerial vehicle control device which is applied to a vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, wherein each vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle; comprising the following steps:

The task splitting module is used for receiving the cluster tasks and splitting the cluster tasks;

the task distribution module is used for reserving tasks to be executed corresponding to the task distribution module according to the decomposition result, and sending other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster so as to facilitate the task distribution module to execute the following steps with the other vehicle-mounted unmanned aerial vehicle systems: acquiring a task to be executed; decomposing a task to be executed into a real-time task and a non-real-time task; and sending the real-time task to the unmanned aerial vehicle for execution, and sending the non-real-time task to the vehicle-mounted equipment for execution.

In order to solve the technical problem, the application further provides a vehicle-mounted unmanned aerial vehicle control device, which comprises:

a memory for storing a computer program;

and the processor is used for realizing the steps of the vehicle-mounted unmanned aerial vehicle control method when executing the computer program.

In order to solve the technical problem, the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the steps of the vehicle-mounted unmanned aerial vehicle control method are realized when the computer program is executed by a processor.

According to the vehicle-mounted unmanned aerial vehicle control method, aiming at the problem that the computing resources of the vehicle-mounted equipment are not fully utilized in the current vehicle-mounted unmanned aerial vehicle scene, communication connection between the unmanned aerial vehicle and the vehicle-mounted equipment is established; furthermore, when the vehicle-mounted unmanned aerial vehicle system is required to execute the task, the unmanned aerial vehicle can fully utilize the computing resources of the vehicle-mounted equipment to assist in completing the task, and the task execution efficiency is improved. In addition, the application further divides the task to be executed into real-time task and non-real-time task; real-time tasks with stronger timeliness are processed locally on the unmanned aerial vehicle, so that the influence on the timeliness of the tasks due to the delay of data transmission is reduced; the non-real-time task with relatively weak timeliness is handed to the vehicle-mounted equipment with relatively abundant computing resources for execution, so that the full utilization of the computing resources is guaranteed to the greatest extent, the overall efficiency in the unmanned aerial vehicle task execution process is improved, and the high requirement on the data processing efficiency in the application scenes such as search and rescue is met better.

The vehicle-mounted unmanned aerial vehicle control device, the vehicle-mounted unmanned aerial vehicle control equipment and the computer readable storage medium provided by the application correspond to the method, and have the same effects.

Drawings

For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

Fig. 1 is a flowchart of a vehicle-mounted unmanned aerial vehicle control method applied to a system provided by the application;

fig. 2 is a schematic diagram of a vehicle-mounted unmanned aerial vehicle cluster architecture provided by the application;

fig. 3 is a flowchart of a vehicle-mounted unmanned aerial vehicle control method applied to a cluster, provided by the application;

FIG. 4 is a flowchart of another vehicle-mounted unmanned aerial vehicle control method provided by the application;

fig. 5 is a block diagram of a control device for a vehicle-mounted unmanned aerial vehicle of the system;

fig. 6 is a block diagram of a control device for a cluster vehicle-mounted unmanned aerial vehicle according to the present application;

fig. 7 is a block diagram of a vehicle-mounted unmanned aerial vehicle control device provided by the application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.

The application provides a vehicle-mounted unmanned aerial vehicle control method, device, equipment and medium.

In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.

At present, in this application scenario of on-vehicle unmanned aerial vehicle, unmanned aerial vehicle uses the vehicle as unit execution task, and the vehicle is used for providing take-off and landing, storage platform for unmanned aerial vehicle, also provides the mode of quick movement for unmanned aerial vehicle's operating personnel to extension unmanned aerial vehicle's controllable scope, thereby improve unmanned aerial vehicle execution task's maximum scope.

In the task execution process of the unmanned aerial vehicle, task execution depends on the support of computing resources, so that the efficiency and effect of executing tasks by the unmanned aerial vehicle are affected to a certain extent by the computing resources, the configurable computing resources of the unmanned aerial vehicle are limited, and the task execution effect with high computing capacity cannot meet expectations.

Therefore, in order to solve the above-mentioned problems, the present application provides a vehicle-mounted unmanned aerial vehicle control method, applied to a vehicle-mounted unmanned aerial vehicle system, the vehicle-mounted unmanned aerial vehicle system includes a vehicle-mounted device and an unmanned aerial vehicle, and the vehicle-mounted device and the unmanned aerial vehicle are in communication connection, as shown in fig. 1, including:

s11: and acquiring a task to be executed.

S12: and decomposing the task to be executed into a real-time task and a non-real-time task.

S13: and sending the real-time task to the unmanned aerial vehicle for execution, and sending the non-real-time task to the vehicle-mounted equipment for execution.

It should be noted that, in the vehicle-mounted unmanned aerial vehicle system, that is, the main body taking the vehicle as a unit and executing the task through the unmanned aerial vehicle in the above description, one vehicle is generally equipped with one unmanned aerial vehicle, but if the storage space and the take-off and landing problems of the unmanned aerial vehicle are not considered, one vehicle may be equipped with a plurality of unmanned aerial vehicles, for example, the take-off and landing time of the plurality of unmanned aerial vehicles is inconsistent or the vehicle is larger and can store a plurality of unmanned aerial vehicles, so that it can be understood that one vehicle can control not only one unmanned aerial vehicle but also a plurality of unmanned aerial vehicles at the same time, and the embodiment does not limit the problem.

And for the communication connection between the unmanned aerial vehicle and the vehicle-mounted equipment, the communication connection needs to be additionally established. It is easy to understand that the communication connection between the unmanned aerial vehicle and the vehicle-mounted device can be a direct communication connection or an indirect communication connection. The manner of direct communication connection is not described in detail in this embodiment, and the present vehicle-mounted device supports multiple wireless connection manners, such as bluetooth communication, wireless local area network (Wireless Local Area Network, WLAN), and the like, and may be used to establish direct communication connection with the unmanned aerial vehicle.

For indirect communication connection, as described above, the operator issues control instructions to the unmanned aerial vehicle through a handheld control device (i.e., a handheld device), i.e., there is a communication connection between the unmanned aerial vehicle and the handheld device. Therefore, the vehicle-mounted equipment can establish communication connection with the handheld equipment, so that the aim of indirect communication with the unmanned aerial vehicle is fulfilled. However, correspondingly, the on-board system of the unmanned aerial vehicle should include a handheld device as a communication medium, and the computing resources in the handheld device can also be used as available computing resources when the unmanned aerial vehicle performs tasks.

For step S11, the task to be executed is the task that needs to be executed specifically for the current vehicle-mounted unmanned aerial vehicle system, and if only the current vehicle-mounted unmanned aerial vehicle system executes the task alone, the task to be executed is a complete unmanned aerial vehicle task, which may be unmanned aerial vehicle tasks such as search, rescue, exploration, etc. In another application scenario, the unmanned aerial vehicle performs the same task together in a cluster manner, that is, there are multiple vehicle-mounted unmanned aerial vehicle systems that perform the same task together. At this time, the task to be executed acquired by each vehicle-mounted unmanned aerial vehicle should be a subtask allocated to the current vehicle-mounted unmanned aerial vehicle system.

In addition, the present embodiment is not limited as to the acquisition mode of the task to be executed. If the vehicle-mounted unmanned aerial vehicle system independently executes the task, that is, the acquired task to be executed is a complete unmanned aerial vehicle task, the task acquisition mode may be a mode of uploading by a user or assigning by other equipment. If the vehicle-mounted unmanned aerial vehicle system cluster executes the task, that is, the acquired task to be executed is a subtask decomposed by the complete unmanned aerial vehicle task, the task acquiring mode can be specifically distributed by a node with task distribution function in the cluster.

For step S12, it is easy to know that, whether the task to be executed is a complete unmanned aerial vehicle task or a subtask in the current unmanned aerial vehicle system in the cluster application, the task to be executed is generally composed of a plurality of tasks, for example, a search and rescue task, and may include a flight task, an obstacle avoidance task, an image acquisition task, an image processing task and other small tasks of the unmanned aerial vehicle. Thus, in step S12, the task to be executed may be decomposed into a real-time task and a non-real-time task according to the timeliness requirement of the small task.

For real-time tasks, tasks with high immediate effectiveness requirements, such as unmanned aerial vehicle flight control and obstacle avoidance, are also required. The part of tasks need to be processed locally by the unmanned aerial vehicle, so that delay caused by data transmission is avoided, and the timeliness requirement of the tasks is met to the greatest extent.

For another part of non-real-time tasks, such as image data processing tasks, the requirement on time efficiency is not high, but the calculation amount of the tasks is large, on one hand, the processing of other real-time tasks is influenced due to the fact that a large amount of calculation resources of the unmanned aerial vehicle are occupied when the unmanned aerial vehicle is locally processed, and on the other hand, the processing efficiency is not guaranteed due to the fact that the calculation resources of the unmanned aerial vehicle are limited. It is possible for this portion of the non-real-time task to be handed off to the relatively more computationally intensive in-vehicle device for processing.

Besides the time-efficient distinguishing task of the task being executed locally by the unmanned aerial vehicle or being sent to the vehicle-mounted device for execution, the execution party of the task can be determined based on the special requirements that the task may exist, for example, the image acquisition task, the execution of which depends on the image processing device and must be executed by the unmanned aerial vehicle, so that the task belongs to the real-time task classification and is executed locally by the unmanned aerial vehicle.

It should be noted that, the task distinction may be performed in advance, that is, when the task to be executed (the user uploads) is acquired, the real-time task and the non-real-time task are already divided and defined in advance, and the task distinction may be performed by the unique identifier. After the vehicle-mounted unmanned aerial vehicle system acquires the task to be executed, the task to be executed can be rapidly decomposed into a real-time task and a non-real-time task according to the unique identification and is respectively executed by the unmanned aerial vehicle and the vehicle-mounted equipment.

In addition, in one possible embodiment of the foregoing, a handheld device is further included in the vehicle-mounted unmanned aerial vehicle system. When processing real-time tasks and non-real-time tasks, the handheld device is the same as the vehicle-mounted device and is the main body for processing the non-real-time tasks. That is, when the in-vehicle unmanned aerial vehicle system expands more devices, real-time tasks are submitted to be executed locally by the unmanned aerial vehicle, and non-real-time tasks are submitted to be executed by other devices outside the unmanned aerial vehicle.

Based on this, the sending of the non-real-time task to the in-vehicle device in step S13 described above specifically further includes: and sending the non-real-time task to the vehicle-mounted equipment and the handheld equipment for execution.

On the other hand, as can be seen from the above description, one common application scenario in the actual task execution process is for the unmanned aerial vehicle cluster to execute the task. In the vehicle-mounted unmanned aerial vehicle scene, that is, a plurality of vehicle-mounted unmanned aerial vehicle systems execute a certain complete task together in a clustering mode, for convenience of reference, the task executed by one cluster is called a cluster task in the follow-up. Correspondingly, the tasks to be executed, which are issued to each vehicle-mounted unmanned aerial vehicle system, are subtasks split from the cluster tasks.

When a plurality of vehicle-mounted unmanned aerial vehicle systems are clustered, communication connection needs to be established among the vehicle-mounted unmanned aerial vehicle systems, and data and computing resources can be shared among the systems so as to improve overall task execution efficiency.

Based on this, the present example provides a preferred embodiment, the above method further comprising:

s14: communication connections are established with other vehicular drone systems in the vehicular drone cluster to share computing resources.

It should be noted that, the embodiment is not limited to a specific manner of establishing communication connection between the vehicle-mounted unmanned aerial vehicle systems: the communication scheme of the existing unmanned aerial vehicle cluster application can be that communication connection is established among unmanned aerial vehicles in each vehicle-mounted unmanned aerial vehicle system; the connection relation among the systems can be established through other devices such as vehicle-mounted devices, handheld devices and the like; or a mode of establishing communication connection among all devices in each system is adopted.

However, in practical applications, considering the actual configuration of the vehicle-mounted unmanned aerial vehicle system, the vehicle-mounted device is generally used as a medium for establishing communication connection between the systems. Namely, as shown in fig. 2, the vehicle-mounted unmanned aerial vehicle cluster architecture realizes data intercommunication through communication connection established between vehicle-mounted devices. In the vehicle-mounted unmanned aerial vehicle system, data intercommunication is realized by the communication connection relationship of vehicle-mounted equipment, handheld equipment and unmanned aerial vehicle. Based on the architecture shown in fig. 2, any device in any vehicle-mounted unmanned aerial vehicle system can realize data intercommunication with any other device in the whole vehicle-mounted unmanned aerial vehicle cluster through direct or indirect communication connection.

In the architecture shown in fig. 2, the communication connection relationship established between the vehicle-mounted devices through the local area network is only one possible implementation, and does not limit the establishment of the communication connection between the vehicle-mounted unmanned aerial vehicle systems. In practical applications, the method can also be realized by other wireless connection modes such as Bluetooth. Even in part of the extreme cases (e.g. one vehicle is anchored and the other is towed), the connection can be made in a wired manner.

Further, the present embodiment further provides a management scheme for establishing a communication network between the vehicle-mounted unmanned aerial vehicle systems, and before step S14, the method further includes:

s15: and verifying the identity information of the vehicle-mounted unmanned aerial vehicle system of the requesting party.

S16: and after the identity information passes the verification, establishing communication connection with the vehicle-mounted unmanned aerial vehicle system of the requesting party.

It is easy to know that various mature identity verification schemes exist at present, and a proper identity verification scheme can be freely selected according to actual implementation requirements to be applied to the identity verification process of the vehicle-mounted unmanned aerial vehicle system, for example, the unmanned aerial vehicle can realize identity verification through a unique identification code or a dynamic identification code and vehicle-mounted equipment or other unmanned aerial vehicles, and the embodiment is not repeated here. When any vehicle-mounted unmanned aerial vehicle system wants to be connected to the local area network, identity verification needs to be carried out first, and networking of the vehicle-mounted unmanned aerial vehicle system is allowed only after the identity verification is passed, so that data security in the vehicle-mounted unmanned aerial vehicle cluster is guaranteed.

Based on the embodiment, the plurality of vehicle-mounted unmanned aerial vehicle systems contained in the vehicle-mounted unmanned aerial vehicle cluster are mutually connected in a communication mode, information and computing resources can be shared among the vehicle-mounted unmanned aerial vehicle systems, so that the cluster tasks are completed by the systems, and the execution efficiency of the tasks is improved.

It should be noted that, the steps S14 to S16 are communication connection processes performed when there are a plurality of vehicle-mounted unmanned aerial vehicle systems for group actions, and the steps S11 to S13 are two independent schemes for the method inside the vehicle-mounted unmanned aerial vehicle systems, and there is no strict limitation of the sequence between them. However, in general, if the unmanned aerial vehicle task is mainly performed by a plurality of vehicle-mounted unmanned aerial vehicle systems, the establishment of the communication connection implemented in steps S14 to S16 needs to be performed before steps S11 to S13.

On the other hand, as can be seen from the above description, the tasks to be executed by the vehicle-mounted unmanned aerial vehicle system may include search and rescue, exploration, agriculture, logistics, etc., and different requirements are also applied to unmanned aerial vehicles for different task execution scenes. The following description will further explain the above-mentioned control method of the vehicle-mounted unmanned aerial vehicle in several task scenarios:

when the task to be executed is a search and rescue task, that is, the unmanned aerial vehicle needs to search and rescue the target object or task. The importance and priority of such tasks are generally higher than those of other tasks, so that the task execution efficiency is extremely high, and the need to timely feed back information reflecting the task progress or other task related information to each task execution unit arises.

Based on this, this embodiment provides a possible implementation, and if the task to be performed is a search and rescue task, the method further includes:

and acquiring search and rescue situation information.

Wherein, search and rescue situation information includes: search and rescue equipment information, search and rescue equipment and personnel distribution information, search and rescue target position information and search and rescue target environment information.

Specifically, the search and rescue equipment information is detailed information of various search and rescue equipment which is equipped in the search and rescue task and possibly used, including the type, the model, the current working state and the like of the search and rescue equipment; the search and rescue equipment and personnel distribution information is information representing the position distribution conditions of the search and rescue equipment and the search and rescue personnel, and can be represented in a coordinate mode, so that the nearest search and rescue equipment and search and rescue personnel can be quickly determined after the position of a search and rescue target is determined, and rescue is conducted on the search and rescue target; the position information of the search and rescue target is the current position information of the search and rescue target and can be represented by coordinates; the environment information of the search and rescue target is related information indicating the current environment of the search and rescue target, such as the terrain, temperature, weather, whether fire or wild animals exist around the search and rescue target, and the like.

In addition, displaying the search and rescue situation information through the vehicle-mounted device and/or the handheld device is only one possible implementation. In fact, if other devices with display modules exist in the vehicle-mounted unmanned aerial vehicle system, the search and rescue situation information can be displayed to search and rescue personnel through the display modules of the devices.

The search and rescue situation information reflects the real-time progress and related conditions of the search and rescue task, so that each search and rescue person executing the search and rescue task can timely master the search and rescue situation, and the search and rescue efficiency is improved.

On the other hand, aiming at a subtree subtask which can be split from a task to be executed, such as an obstacle avoidance task, an unmanned aerial vehicle is required to be provided with an image recognition module, and the corresponding method further comprises:

acquiring image data through an image recognition module;

performing depth estimation calculation on the image data to obtain depth data;

an obstacle is identified from the depth data.

The depth data is information representing the distance and direction between the object identified by the image and the unmanned aerial vehicle, so that position determination relative to the unmanned aerial vehicle body is realized, recognition and avoidance of the unmanned aerial vehicle to the obstacle can be realized, and the risk of collision between the unmanned aerial vehicle and the obstacle during flight is reduced.

In the above-mentioned scheme, the obstacle avoidance task is generally regarded as a real-time task, so the execution subject of the above-mentioned method should be specifically an unmanned aerial vehicle in the vehicle-mounted unmanned aerial vehicle system based on the requirement of the real-time task. In addition, the unmanned aerial vehicle may be further equipped with other devices for realizing obstacle avoidance function, such as the architecture shown in fig. 2, and the unmanned aerial vehicle may include, but is not limited to: photoelectric camera, laser radar, millimeter wave radar realize foretell obstacle avoidance function jointly.

In addition, the task to be executed shall also include the unmanned aerial vehicle's flight task. For example, in the processes of search and rescue or exploration of unmanned aerial vehicles, when the unmanned aerial vehicles work in a cluster mode, each unmanned aerial vehicle is responsible for image acquisition in different areas so as to improve working efficiency, and parallel image acquisition of a large area is realized by a plurality of unmanned aerial vehicles. Correspondingly, different unmanned aerial vehicles in the cluster have different flight tasks.

Based on the above, the present example further provides a possible implementation manner, where the method further includes:

acquiring flight data and real-time tasks of the unmanned aerial vehicle;

Wherein the flight data includes at least but is not limited to: depth data, unmanned aerial vehicle's flight attitude information and unmanned aerial vehicle status information.

According to the method, the flight data are used for representing the current flight condition of the unmanned aerial vehicle, and the real-time task indicates the flight target of the unmanned aerial vehicle in a period of time in the future, so that the flight control instruction for the unmanned aerial vehicle to realize the real-time task can be determined based on the flight data and the real-time task.

In addition, it should be noted that the process of acquiring the flight data of the unmanned aerial vehicle is not limited to acquiring the flight data of the unmanned aerial vehicle of the system thereof, and may also acquire the flight data of unmanned aerial vehicles of other systems in the cluster.

Because an important application scene is the clustering application in the practical application of the unmanned aerial vehicle, when each unmanned aerial vehicle determines own flight control instructions, the influence of other unmanned aerial vehicles is considered, for example, whether the two unmanned aerial vehicles have route overlapping, whether the unmanned aerial vehicles can mutually influence in the take-off and landing process or not, and the like.

In summary, the embodiment uses a vehicle-mounted unmanned aerial vehicle system as a main body, and provides a vehicle-mounted unmanned aerial vehicle control method. According to the method, communication connection is established between the unmanned aerial vehicle and the vehicle-mounted equipment in the system, so that the computing resources of the vehicle-mounted equipment can be utilized when the unmanned aerial vehicle executes tasks. Specifically, the task to be executed acquired by the unmanned aerial vehicle is split into a real-time task and a non-real-time task, wherein the real-time task is executed locally by the unmanned aerial vehicle, and the non-real-time task is executed by the vehicle-mounted equipment. Therefore, idle computing resources of the vehicle-mounted equipment are better utilized, the problem of insufficient computing resources of the unmanned aerial vehicle is effectively solved, the overall efficiency of task execution of the unmanned aerial vehicle is improved, and the requirements of high task efficiency requirements such as personnel search and rescue are better met.

On the other hand, regarding the application scenario in which the vehicle-mounted unmanned aerial vehicle system performs tasks in a clustered manner in the above description, the present embodiment further describes the above method:

the embodiment provides a vehicle-mounted unmanned aerial vehicle control method which is applied to a vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, the vehicle-mounted unmanned aerial vehicle systems comprise vehicle-mounted equipment and unmanned aerial vehicles, and as shown in fig. 3, the method comprises the following steps:

S21: and receiving the cluster task and decomposing the cluster task.

S22: and reserving tasks to be executed corresponding to the tasks according to the decomposition result, and sending other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster.

So that the vehicle unmanned aerial vehicle system and other vehicle unmanned aerial vehicle systems can execute the steps S11 to S13.

It should be noted that, the method is applied to a vehicle-mounted unmanned aerial vehicle cluster, and the main body implementing the method is a certain vehicle-mounted unmanned aerial vehicle system in the vehicle-mounted unmanned aerial vehicle cluster. Based on the step S21 and the step S22, the system is responsible for distributing corresponding tasks to be executed for other vehicle-mounted unmanned aerial vehicle systems, namely, the main node or the main system with the management function in the cluster. Correspondingly, other vehicle-mounted unmanned aerial vehicle systems managed by the host system in the cluster are slave systems.

For the vehicle-mounted unmanned aerial vehicle cluster in this embodiment, as shown in fig. 2, the vehicle-mounted unmanned aerial vehicle system includes an unmanned aerial vehicle, a handheld device and a vehicle-mounted device, and the vehicle-mounted devices are connected through a local area network. And selecting one main system among the vehicle-mounted unmanned aerial vehicle systems as an executive party of the step S21 and the step S22.

In addition, the above-described host system may also be used to implement other coordination and management tasks in a clustered application. For example, as can be seen from the above embodiments, the resources in each node may be allocated in the cluster to improve the overall resource utilization, thereby improving the efficiency of task execution. Similarly, for the computing resource of the vehicle-mounted device newly introduced in the vehicle-mounted unmanned aerial vehicle system, the embodiment also provides a management method, and the method further includes:

S23: and acquiring the computing resource use information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems.

S24: according to the computing resource use information, allocating the task to be executed which is not completed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems to the vehicle-mounted unmanned aerial vehicle system with idle computing resources.

In a possible embodiment, the above-mentioned computing resource usage information may be the usage rate of the computing resource, and may be subdivided into the unmanned plane computing resource usage rate, the vehicle-mounted device computing resource usage rate, and the handheld device computing resource usage rate, so as to meet the needs of the real-time task and the non-real-time task for different computing resources. Furthermore, after the main system obtains the computing resource usage information of each system in the cluster, resource allocation can be performed based on a preset resource allocation rule, and tasks in the system with insufficient computing resources in the cluster are allocated to other systems with idle computing resources for execution, so that the computing resources in the cluster are utilized to the maximum extent.

The resource allocation rule is not limited, and may be a resource average allocation rule, that is, by task allocation, the utilization rate of computing resources of each system in the cluster tends to be an average value, so that computing resources in the cluster are utilized to the greatest extent; the minimum allocation times can be used as a resource allocation rule, namely when the calculation resources of any system cannot meet the requirement of task execution, the part of tasks are allocated to the system with the calculation resources independently bearing task execution, the allocation times of the tasks are reduced as much as possible, and the delay caused by data transmission in the task allocation process is reduced, so that the overall efficiency of task execution is improved.

In addition, in the above embodiment, the connection between the plurality of vehicle-mounted unmanned aerial vehicle systems may be established through the local area network, and one master system may be selected from the vehicle-mounted unmanned aerial vehicle clusters based on a push or the like to manage other slave systems, so as to jointly complete a certain cluster task. At this time, if a plurality of vehicle-mounted unmanned aerial vehicle systems that together complete a cluster task are referred to as an organization (an organization may only include one vehicle-mounted unmanned aerial vehicle system), the number of organizations included in a local area network established by a plurality of vehicle-mounted unmanned aerial vehicle systems is not limited in this embodiment.

That is, in the communication cluster realized between the local area network and the systems in the same area, a plurality of organizations respectively used for realizing different cluster tasks may be included, each organization may include a master system and a plurality of slave system clusters to complete tasks, or may include only one vehicle-mounted unmanned aerial vehicle system to independently complete tasks.

For the above application scenario, the present embodiment provides a possible organization relationship establishment scheme, where after receiving the cluster task, the method further includes:

s25: and sending the information of the cluster task to other vehicle-mounted unmanned aerial vehicle systems so as to judge whether to store the organization relation corresponding to the cluster task according to whether to accept the cluster task or not by the other vehicle-mounted unmanned aerial vehicle systems.

Wherein, the organization relation includes: and each vehicle-mounted unmanned aerial vehicle system corresponding to the cluster task.

That is, in this embodiment, the vehicle-mounted unmanned aerial vehicle system that acquires the cluster task is determined as the main system by default. After the host system receives the cluster task, task information of the cluster task is sent to other vehicle-mounted unmanned aerial vehicle systems (all systems or systems without organization relation) connected in the local area network in a broadcasting mode and the like, so that users of the other vehicle-mounted unmanned aerial vehicle systems can judge whether to join the organization or not, namely, whether to finish the cluster task as a slave system of the host system or not according to the task information.

After all other systems determine whether to join the organization, the organization relationship of the organization is determined, and the organization relationship at least comprises a master system for acquiring the cluster task and a plurality of slave systems possibly included. The determined organization relationship is stored locally in each system in the organization to facilitate distinguishing between the different systems.

In one possible application scenario, for example, if a cluster task is uploaded by a user through a vehicle-mounted device, a vehicle-mounted unmanned aerial vehicle system to which the vehicle-mounted device that receives the user uploading the cluster task belongs is a main system; after receiving the trunking task, the main system broadcasts and sends task information of the trunking task to other vehicle-mounted equipment connected with the local area network; other vehicle-mounted devices display corresponding task information and prompt a user whether to join the organization or the task; if the task is selected to be added, the current vehicle-mounted unmanned aerial vehicle system is added into an organization corresponding to the cluster task as a slave system, the corresponding organization relationship is stored locally, and the subsequent tasks to be executed distributed by the master system are received to participate in the allocation of computing resources.

It is easy to know that task data of different cluster tasks are not required to be shared, and data interaction between different organizations should be limited to protect data security. Similarly, each organization takes the task of completing itself as the most priority, so the computing resource allocation process from step S23 to step S24 should also occur in the vehicle-mounted unmanned aerial vehicle system in the same organization.

Correspondingly, the step S23 is specifically:

and acquiring the computing resource use information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems in the same organization.

Similarly, step S24 specifically includes:

Furthermore, the vehicle-mounted unmanned aerial vehicle systems connected in the local area network provide certain autonomy when executing the cluster task, namely, each system can freely select whether to be added into the execution of the cluster task according to the task information and the current actual situation. Based on the flexible management mode, a vehicle-mounted unmanned aerial vehicle system which does not have any organization relationship, namely a system which does not execute any cluster task, also appears in the local area network at a certain moment. At this time, a part of computing resources of the system are free and are not fully utilized, and the part of the system is called an idle vehicle-mounted unmanned aerial vehicle system or simply called an idle system.

In order to fully utilize the computing resources of the idle system, the present embodiment further provides a preferred implementation manner based on the above embodiment, where the step S23 is specifically further:

and acquiring the computing resource use information of the vehicle-mounted unmanned aerial vehicle system and the idle vehicle-mounted unmanned aerial vehicle system under the same organization.

Correspondingly, step S24 is specifically further:

As can be seen from the foregoing, in this embodiment, when the host system of any organization allocates the computing resources, the computing resources of the idle system are also included in the resource allocation of the organization, so as to maximize the utilization of the computing resources in the entire cluster.

However, in an actual application scenario, the reason for generating the idle system is that the user of the system does not receive any cluster task. There are many factors that cause this to occur, and one of the more common scenarios is that the unmanned aerial vehicle in the current vehicle-mounted unmanned aerial vehicle system is damaged or cannot fly, resulting in the user not being able to receive any cluster tasks.

At this time, the unmanned aerial vehicle resources in the idle system are not available, so that when the main system of other organizations invokes the computing resources of the idle system, only the idle computing resources of the vehicle-mounted device and the handheld device can be invoked. Similarly, if other devices are not available in the idle system, the computing resources of the corresponding devices are not within the allocation scope of other organizations.

In addition, when the host system with a plurality of organizations simultaneously want to call the idle computing resources of the idle system, the idle system which has called the idle computing resources by one resistance value can reject the request of other organizations to call the idle computing resources according to the sequence or the task priority and other pre-agreed sequences. Further, when receiving the idle computing resource call request of any organization, any idle system can display the request and the cluster task information on the vehicle-mounted equipment or the handheld equipment for the user to select whether to accept or not.

Furthermore, the above embodiments focus on how to establish an organization, and there is no limitation on how to exit the entered organization. A common scheme is: when the cluster task is completed, the organization relation corresponding to the cluster task is broken, and all the systems in the organization delete the organization relation stored locally.

In addition to the above, the present example also provides a possible implementation, and the method further includes:

s26: when a tissue detachment instruction is received, the tissue relationship is deleted.

It should be noted that the above method is applied to any system where an organization relationship exists. For the received tissue departure instruction, one possible implementation is user input through the in-vehicle device. In the process that the system executes the cluster task, a user can choose whether to break away from the organization at any time according to actual conditions, and if the user decides to break away from the organization, the vehicle-mounted equipment issues an organization breaking away instruction to break away from the current organization.

It should be further noted that, after the system is separated from the current organization, there may be further embodiments according to whether the system is a master system or a slave system in the organization:

when the system is a main system, the system is used as an initiator of the cluster task, and the vehicle-mounted equipment inquires whether the user independently continues to execute the cluster task; if the user agrees, the system independently continues to complete the corresponding cluster task; if the user does not agree, the cluster task is interrupted.

When the system is a slave system, the system is taken as a responder of the cluster task, and the organization relationship is directly exited and the execution of the task to be executed is stopped. The primary system of the original organization can allocate tasks to be executed and allocate computing resources according to the exit condition of the secondary system.

The above embodiment provides a set of management measures based on a plurality of organizations respectively used for executing different cluster tasks possibly included among different systems connected by the local area network in the same area, thereby standardizing the execution flow of the cluster tasks, supporting the parallel execution of a plurality of cluster tasks under the same local area network, and greatly improving the execution efficiency of the unmanned aerial vehicle. Meanwhile, a set of corresponding utilization schemes are provided for idle computing resources in an idle system without cluster task execution and an unorganized relation under the local area network, so that the utilization rate of computing resources in the vehicle-mounted unmanned aerial vehicle clusters is further improved.

In summary, the embodiment provides an adaptive vehicle-mounted unmanned aerial vehicle control method for cluster application in a vehicle-mounted unmanned aerial vehicle scene. Communication connection exists among the vehicle-mounted unmanned aerial vehicle systems in the cluster; decomposing the cluster task and allocating the computing resources through a selected system; thereby realizing cooperative work among all systems in the cluster and completing the task of the cluster together; fully calling computing resources such as vehicle-mounted equipment which cannot be utilized originally in the cluster, and amplifying the computing resources available for the execution of the cluster tasks on the premise of not increasing the cost; thereby improving the overall efficiency of the clustered tasks.

In addition, the embodiment also provides an organization method between the cluster master system and the slave system, which is used for uniquely determining an organization based on the cluster task to be executed, uniformly managing each system executing the same cluster task as the same organization, guaranteeing the independence and data safety among the cluster tasks, and providing a feasible management scheme for parallel execution of the multiple cluster tasks.

Finally, in combination with an application architecture shown in fig. 2 and the above-provided method embodiment, the present embodiment further describes the above-mentioned method with respect to an application scenario in which the unmanned aerial vehicle performs a search and rescue task:

As shown in fig. 2, the vehicular drone cluster architecture includes multiple sets of vehicular drone systems. The vehicle-mounted unmanned aerial vehicle system comprises an unmanned aerial vehicle, handheld equipment and vehicle-mounted equipment; communication connection sequentially exists among the unmanned aerial vehicle, the handheld device and the vehicle-mounted device, and the vehicle-mounted devices of the systems are connected through a local area network.

Furthermore, the unmanned aerial vehicle comprises a hardware module for image recognition and detection such as a photoelectric camera, a laser radar, a millimeter wave radar and the like, and the hardware module is used for realizing detection of a specific target, image acquisition, obstacle recognition and the like. The unmanned aerial vehicle further comprises a flight control unit and a data processing unit, wherein the flight control unit is used for controlling the unmanned aerial vehicle to fly according to the received flight control instruction, and the data processing unit is used for completing data processing tasks on the unmanned aerial vehicle side, including data processing processes of performing depth calculation on collected image data, performing video coding on the image data and the like.

Wireless communication connections are established between the drone and the handheld device, and between the handheld device and the vehicle-mounted device, via wireless network communication technology (Wi-Fi).

The handheld device comprises a data processing unit and a display control unit. The data processing unit is used for completing calculation tasks realized on the handheld device side, and can comprise tasks of self-organizing judgment of the unmanned aerial vehicle, further processing of image data acquired by the unmanned aerial vehicle and the like. The display control unit is used for realizing man-machine interaction with the user, the user can acquire the information shared in the cluster through the display control unit, and a flight control instruction is issued to the unmanned aerial vehicle through the display control unit.

The vehicle-mounted equipment comprises a display control unit for displaying search and rescue situation information and receiving an instruction input by a user besides other unit modules for normally realizing functions of the vehicle-mounted equipment; a communication unit for establishing local area network communication with other vehicle-mounted units; the data processing unit is used for further processing and summarizing data sent by the handheld device or other vehicle-mounted devices; and a data storage unit that holds account information for authentication.

Based on the above architecture, the flow when the vehicle-mounted unmanned aerial vehicle cluster executes the search and rescue task is shown in fig. 4, which includes:

an initialization stage:

s301: each vehicle-mounted device is mutually crosslinked and authenticates identity information to construct a local area network.

S302: and the devices in the vehicle-mounted unmanned aerial vehicle systems are mutually crosslinked to establish communication connection.

S303: and performing system self-checking, updating and initializing.

Task execution phase:

s304: and the vehicle-mounted unmanned aerial vehicle system executes a non-search-and-rescue task.

S305: and each vehicle-mounted device subscribes to the message.

S306: and judging whether any vehicle-mounted equipment starts a search and rescue task, if so, entering step S307, and if not, returning to step S304.

S307: judging whether the vehicle owner accepts the search and rescue task, if so, entering step S308, and if not, returning to step S304.

S308: the organization relationship is saved locally.

S309: and switching the unmanned aerial vehicle to execute the search and rescue task, starting the obstacle avoidance function of the unmanned aerial vehicle, and acquiring the organization relation of the nearby vehicle-mounted unmanned aerial vehicle system.

S310: whether the unmanned aerial vehicle is the same as the nearby unmanned aerial vehicle is judged, if so, the step S311 is performed, and if not, the step S312 is performed.

S311: and starting the collaborative allocation of the same-organization tasks, balancing the computing resources and sharing the search and rescue situation information.

S312: whether the old organization relation is separated or not is judged, if yes, the process goes to the step S313, and if not, the process goes back to the step S311.

S313: and judging whether to independently continue to execute the search and rescue task, if so, turning to the step S314, and if not, returning to the step S310.

S314: judging whether the search and rescue task is completed, if yes, turning to step S315, and if not, returning to step S309.

S315: and (5) removing the organization formation, deleting the locally stored organization relation, and returning to the original task state.

In the above embodiments, a detailed description is given of a vehicle-mounted unmanned aerial vehicle control method, and the present application further provides a corresponding embodiment of a vehicle-mounted unmanned aerial vehicle control device. It should be noted that the embodiments of the device part are described from two angles, one based on the angle of the vehicle-mounted unmanned aerial vehicle system and the other based on the angle of the vehicle-mounted unmanned aerial vehicle cluster.

Based on the angle of the vehicle-mounted unmanned aerial vehicle system, the embodiment provides a vehicle-mounted unmanned aerial vehicle control device which is applied to the vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle, and the vehicle-mounted equipment is in communication connection with the unmanned aerial vehicle; as shown in fig. 5, includes:

a task acquisition module 11, configured to acquire a task to be executed;

a task decomposition module 12, configured to decompose a task to be executed into a real-time task and a non-real-time task;

the task allocation module 13 is configured to send a real-time task to the unmanned aerial vehicle for execution, and send a non-real-time task to the vehicle-mounted device for execution.

Based on the angle of the vehicle-mounted unmanned aerial vehicle cluster, the embodiment also provides a vehicle-mounted unmanned aerial vehicle control device which is applied to the vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, wherein each vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle; as shown in fig. 6, includes:

a task splitting module 21, configured to receive a clustered task and split the clustered task;

the task distribution module 22 is configured to reserve tasks to be executed corresponding to the task distribution module according to the decomposition result, and send other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster, so that the task distribution module and the other vehicle-mounted unmanned aerial vehicle systems execute the following steps: acquiring a task to be executed; decomposing a task to be executed into a real-time task and a non-real-time task; and sending the real-time task to the unmanned aerial vehicle for execution, and sending the non-real-time task to the vehicle-mounted equipment for execution.

Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.

Fig. 7 is a block diagram of a vehicle-mounted unmanned aerial vehicle control device according to another embodiment of the present application, as shown in fig. 7, a vehicle-mounted unmanned aerial vehicle control device includes: a memory 30 for storing a computer program;

the processor 31 is configured to implement the steps of the vehicle-mounted unmanned aerial vehicle control method (which may be applied to a vehicle-mounted unmanned aerial vehicle system or a vehicle-mounted unmanned aerial vehicle cluster) according to the above embodiment when executing the computer program.

Processor 31 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 31 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 31 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 31 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and rendering of the content that the display screen is required to display. In some embodiments, the processor 31 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.

Memory 30 may include one or more computer-readable storage media, which may be non-transitory. Memory 30 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 30 is at least used for storing a computer program 301, where the computer program, after being loaded and executed by the processor 31, can implement the relevant steps of a vehicle-mounted unmanned aerial vehicle control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 30 may further include an operating system 302, data 303, and the like, where the storage manner may be transient storage or permanent storage. The operating system 302 may include Windows, unix, linux, among other things. The data 303 may include, but is not limited to, a vehicle-mounted drone control method, and the like.

In some embodiments, a vehicle-mounted unmanned aerial vehicle control device may further include a display screen 32, an input-output interface 33, a communication interface 34, a power supply 35, and a communication bus 36.

Those skilled in the art will appreciate that the configuration shown in fig. 7 is not limiting of the in-vehicle drone control device and may include more or fewer components than shown.

The vehicle-mounted unmanned aerial vehicle control device provided by the embodiment of the application comprises a memory and a processor, wherein the processor can realize the following method when executing a program stored in the memory: a vehicle-mounted unmanned aerial vehicle control method.

Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer readable storage medium stores a computer program, which when executed by the processor implements the steps described in the method embodiments (which may be applied to a vehicle-mounted unmanned aerial vehicle system or a vehicle-mounted unmanned aerial vehicle cluster).

It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The method, the device, the equipment and the medium for controlling the vehicle-mounted unmanned aerial vehicle provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.

It should also be noted that in this specification, relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. The vehicle-mounted unmanned aerial vehicle control method is characterized by being applied to a vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle, and the vehicle-mounted equipment is in communication connection with the unmanned aerial vehicle and comprises the following steps:

acquiring a task to be executed;

decomposing the task to be executed into a real-time task and a non-real-time task;

2. The vehicle unmanned aerial vehicle control method of claim 1, further comprising:

and establishing communication connection with other vehicle-mounted unmanned aerial vehicle systems in the vehicle-mounted unmanned aerial vehicle cluster so as to share computing resources.

3. The method according to claim 2, wherein when receiving the communication connection establishment request sent by the other vehicle-mounted unmanned aerial vehicle system, further comprising:

verifying identity information of the vehicle-mounted unmanned aerial vehicle system of the requesting party;

and after the identity information passes the verification, establishing communication connection with the vehicle-mounted unmanned aerial vehicle system of the requester.

4. A method of controlling a vehicle-mounted drone according to any one of claims 1 to 3, wherein the vehicle-mounted drone system further comprises a handheld device in communication with the drone and the vehicle-mounted device; the sending the non-real-time task to the vehicle-mounted equipment for execution comprises the following steps:

5. The vehicle-mounted unmanned aerial vehicle control method of claim 4, wherein the task to be performed is a search and rescue task; the method further comprises the steps of:

acquiring search and rescue situation information; wherein, the search and rescue situation information includes: search and rescue equipment information, search and rescue equipment and personnel distribution information, search and rescue target position information and search and rescue target environment information;

6. The method of claim 4, wherein the drone includes an image recognition module; the method further comprises the steps of:

acquiring image data through the image recognition module;

performing depth estimation calculation on the image data to obtain depth data;

and identifying an obstacle according to the depth data.

7. The vehicle unmanned aerial vehicle control method of claim 6, wherein the method further comprises:

acquiring flight data of the unmanned aerial vehicle and the real-time task;

The flight data comprise the depth data, flight attitude information of the unmanned aerial vehicle and unmanned aerial vehicle state information.

8. The vehicle-mounted unmanned aerial vehicle control method is characterized by being applied to a vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, the vehicle-mounted unmanned aerial vehicle systems comprise vehicle-mounted equipment and unmanned aerial vehicles, and the method comprises the following steps:

receiving a cluster task and decomposing the cluster task;

according to the decomposition result, reserving tasks to be executed corresponding to the tasks, and sending other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster, so that the tasks and the other vehicle-mounted unmanned aerial vehicle systems execute the following steps:

acquiring the task to be executed;

9. The vehicle-mounted unmanned aerial vehicle control method of claim 8, wherein the method further comprises:

And according to the computing resource use information, allocating the unfinished tasks to be executed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems to the vehicle-mounted unmanned aerial vehicle system with idle computing resources.

10. The in-vehicle unmanned aerial vehicle control method of claim 9, further comprising, after the receiving the clustered task:

the information of the cluster task is sent to other vehicle-mounted unmanned aerial vehicle systems so that the other vehicle-mounted unmanned aerial vehicle systems can judge whether to store the organization relation corresponding to the cluster task according to whether to accept the cluster task; wherein the organization relationship comprises: each vehicle-mounted unmanned aerial vehicle system corresponding to the cluster task;

the obtaining the computing resource usage information of the vehicle unmanned aerial vehicle system and other vehicle unmanned aerial vehicle systems comprises the following steps:

the allocating the task to be executed which is not completed in the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems according to the computing resource use information until the vehicle-mounted unmanned aerial vehicle system with idle computing resources exists comprises the following steps:

And allocating the tasks to be executed which are not completed in the vehicle-mounted unmanned aerial vehicle systems under the same organization and other vehicle-mounted unmanned aerial vehicle systems under the same organization to the vehicle-mounted unmanned aerial vehicle systems with idle computing resources.

11. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 10, wherein the obtaining the computing resource usage information of the vehicle-mounted unmanned aerial vehicle system and other vehicle-mounted unmanned aerial vehicle systems under the same organization includes:

acquiring computing resource use information of the vehicle-mounted unmanned aerial vehicle system and the idle vehicle-mounted unmanned aerial vehicle system under the same organization; the idle vehicle-mounted unmanned aerial vehicle system is the vehicle-mounted unmanned aerial vehicle system without the organization relation;

the allocating the task to be executed which is not completed in the vehicle-mounted unmanned aerial vehicle system in the same organization with other vehicle-mounted unmanned aerial vehicle systems in the same organization until the vehicle-mounted unmanned aerial vehicle system with idle computing resources exists in the same organization comprises the following steps:

and allocating the unfinished tasks to be executed to the idle vehicle-mounted unmanned aerial vehicle system or the vehicle-mounted unmanned aerial vehicle system with idle computing resources under the same organization.

12. The vehicle unmanned aerial vehicle control method of claim 11, further comprising:

And deleting the organization relation when receiving the organization detachment instruction.

13. The vehicle-mounted unmanned aerial vehicle control device is characterized by being applied to a vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle, and the vehicle-mounted equipment is in communication connection with the unmanned aerial vehicle; comprising the following steps:

the task acquisition module is used for acquiring a task to be executed;

and the task allocation module is used for sending the real-time task to the unmanned aerial vehicle for execution and sending the non-real-time task to the vehicle-mounted equipment for execution.

14. The vehicle-mounted unmanned aerial vehicle control device is characterized by being applied to a vehicle-mounted unmanned aerial vehicle cluster; the vehicle-mounted unmanned aerial vehicle cluster comprises a plurality of vehicle-mounted unmanned aerial vehicle systems which are communicated with each other, and each vehicle-mounted unmanned aerial vehicle system comprises vehicle-mounted equipment and an unmanned aerial vehicle; comprising the following steps:

the task distribution module is used for reserving tasks to be executed corresponding to the task distribution module according to the decomposition result, and sending other tasks to be executed to other vehicle-mounted unmanned aerial vehicle systems in the cluster so as to facilitate the task distribution module to execute the following steps with the other vehicle-mounted unmanned aerial vehicle systems: acquiring the task to be executed; decomposing the task to be executed into a real-time task and a non-real-time task; and sending the real-time task to the unmanned aerial vehicle for execution, and sending the non-real-time task to the vehicle-mounted equipment for execution.

15. A vehicle-mounted unmanned aerial vehicle control apparatus, characterized by comprising:

a memory for storing a computer program;

a processor for implementing the steps of the vehicle unmanned aerial vehicle control method of any of claims 1 to 12 when executing the computer program.

16. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle unmanned aerial vehicle control method according to any of claims 1 to 12.