WO2019100353A1

WO2019100353A1 - Task execution method, mobile device, system, and storage medium

Info

Publication number: WO2019100353A1
Application number: PCT/CN2017/112977
Authority: WO
Inventors: 马岳文; 石进桥
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-11-25
Filing date: 2017-11-25
Publication date: 2019-05-31
Also published as: CN108885470B; CN113589850A; CN108885470A

Abstract

Embodiments of the present invention provide a task execution method, a mobile device, a system, and a storage medium. The method comprises: obtaining location information of a task breakpoint, wherein the location information of the task breakpoint comprises environment image information of the task breakpoint; determining, according to environment image information obtained at a target location and the environment image information of the task breakpoint, a positional relationship between the target location and the task breakpoint, wherein a distance between the target location and the task breakpoint is less than a preset distance; and controlling, on the basis of the positional relationship, the mobile device to move from the target location to the task breakpoint. Embodiments of the present invention provide an accurate spatial position of a mobile device, accurately locate a task breakpoint by means of positioning information and a preset algorithm, and combine the same with a current three-dimensional environment map to realize a high-precision breakpoint connection. The present invention quickly accomplishes a target task by executing an offline breakpoint, and achieves multi-device collaboration on the basis of task breakpoint retrieval technology.

Description

Task execution method, mobile device, system and storage medium

Technical field

The present invention relates to the field of control technologies, and in particular, to a task execution method, a mobile device, a system, and a storage medium.

Background technique

With the development of computer technology, mobile devices such as drones, unmanned vehicles, and robots capable of autonomous movement have become more and more widely used. Among them, taking drones as an example, drones can be used for rapid preview of terrain and landform, post-disaster emergency assessment, geographic mapping assistance, urban planning, etc., and can also be applied to agricultural plant protection, such as pesticide spraying, and can also be applied to film and television shooting. For example, video material stitching and other large-scale industry applications.

However, in the above application process, the drone may cause the drone to interrupt the current task due to factors such as insufficient power of the drone, signal loss, and sudden changes in the environment. Currently, after the task is interrupted, the manual control is usually performed. The drone flies to the corresponding task interruption location to perform an unfinished task or other corresponding task.

However, the manual control method has higher requirements for the user, and for the unskilled user, it takes more time to move the mobile device such as the aircraft to the task breakpoint, which is time consuming and laborious, and additionally consumes The power of mobile devices such as aircraft is inefficient in task execution.

Summary of the invention

Embodiments of the present invention provide a task execution method, a mobile device, a system, and a storage medium, which can automatically control a mobile device such as an aircraft to move to a task breakpoint.

In a first aspect, an embodiment of the present invention provides a task execution method, which is applied to a mobile device capable of autonomous movement, wherein the mobile device is mounted with a photographing device, and the method includes:

Obtaining location information of the task breakpoint, where the location information of the task breakpoint includes: environment image information of the task breakpoint;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, and the distance between the target location and the task breakpoint is less than a pre-predetermined Set the distance

The mobile device is controlled to move from the target location to the task breakpoint based on the positional relationship.

In a second aspect, an embodiment of the present invention provides another task execution method, which is applied to a task execution system, where the task execution system includes a mobile device capable of autonomously moving, the mobile device is mounted with a photographing device, and the method include:

The first mobile device sets location information of the task breakpoint during the execution of the first task, and the location information of the task breakpoint includes: environment image information of the task breakpoint;

The second mobile device acquires location information of the task breakpoint;

Determining, by the second mobile device, the positional relationship between the target location and the connection location point according to the environmental image information acquired at the target location and the environmental image information of the task breakpoint; wherein the convergence location is based on Determined by the environmental image information of the task breakpoint;

The second mobile device moves from the target position to the engaged position point based on the positional relationship, and performs a second task based on the engaged position point.

In a third aspect, an embodiment of the present invention provides a mobile device, where the mobile device is mounted with a camera, and the device includes a memory and a processor;

The memory is configured to store program instructions;

The processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:

In a fourth aspect, an embodiment of the present invention provides a task execution system, including: a first mobile device and a second mobile device capable of autonomously moving, and respectively communicating with the first mobile device and the second mobile device Ground station, the first mobile device and the second mobile device are both mounted with a photographing device;

The first mobile device is configured to set a location letter of the task breakpoint during the execution of the first task Transmitting the location information of the task breakpoint to the ground station, where the location information of the task breakpoint includes: environmental image information of the task breakpoint;

The ground station is configured to send location information of the task breakpoint to the second mobile device;

The second mobile device is configured to acquire location information of the task breakpoint sent by the ground station; determine the target according to environment image information acquired at the target location and environment image information of the task breakpoint a positional relationship between the position and the position of the connection; wherein the position of the connection position is determined according to environmental image information of the task breakpoint; moving from the target position to the position of the connection position based on the positional relationship, and A second task is performed based on the articulated location point.

In a fifth aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or the second aspect, Task execution method.

In the embodiment of the present invention, the mobile device determines the location of the target location and the task breakpoint according to the location information of the task breakpoint, according to the environment image information acquired at the target location and the environment image information of the task breakpoint. The relationship is controlled, and based on the positional relationship, the mobile device is controlled to move from the target position to the task breakpoint, thereby realizing the effectiveness of quickly positioning the task breakpoint.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic diagram of a scenario for task breakpoint retrieval according to an embodiment of the present invention;

2 is a schematic flow chart of a method for a point-of-sale flight according to an embodiment of the present invention;

3 is a schematic diagram of a scenario in which a multi-machine cooperative execution task is provided according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of another multi-machine cooperative execution task according to an embodiment of the present invention; FIG.

FIG. 5 is a schematic diagram of another scenario in which a multi-machine cooperative execution task is provided according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic flowchart of a task execution method according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart diagram of another task execution method according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of interaction of a task execution method according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

In the embodiment of the present invention, the mobile device may be an unmanned aerial vehicle (hereinafter referred to as a drone), an unmanned automobile, a robot, or the like, which can realize autonomous movement. The tasks that can be performed by the mobile device include: tasks of large-scale real-time map reconstruction, tasks of agricultural plant protection, filming, filming, autonomous flight along a certain trajectory, and the like. The following describes the method for performing related tasks based on task breakpoints in the embodiment of the present invention by using a drone as an example. It should be noted that the task execution method described below can also be applied to other mobile devices. In the embodiment of the present invention, the task breakpoint is a location point corresponding to the mobile device when the current task is interrupted during the execution of the current task.

In some embodiments of the present invention, the location information of the task breakpoint may be obtained by the positioning sensor, the location corresponding to the task breakpoint is found according to the location information of the task breakpoint, and the target task is started from the task breakpoint. . The target task is a task after a task breakpoint, and the current task refers to a task before the task breakpoint. In an embodiment, the location corresponding to the task breakpoint can also be found according to the matching degree by matching the environment image captured at the task breakpoint with the environment image captured at the current location. The following describes the task execution method for the drone.

In some embodiments of the present invention, during the execution of the current task, the drone may acquire an environment in which the camera mounted on the drone is photographed at a certain time interval or at a certain distance interval. An image is generated, and a three-dimensional environment map is established by using a Simultaneous Localization And Mapping (SLAM) algorithm according to the acquired environment image.

In one embodiment, the photographing device mounted on the drone may be at least one of a monocular camera disposed on the drone, a binocular camera, and a camera mounted on the drone through the gimbal;

In some embodiments, the image information of the environment image captured by the camera of the drone further includes posture information and/or position information of the drone when the environment image is captured, and the posture information may include, for example, angular velocity, Pitch, heading angle (yaw), roll angle, speed, plus Any one or more of speed and geomagnetic declination, the position information may be, for example, GPS, geomagnetic angle.

In some embodiments, the environment image used by the drone to construct the three-dimensional environment map according to the SLAM algorithm is called a key frame, and the key frame may be all environment images captured by the camera of the drone, or may be Part of the environmental image selected from all the environmental images captured. The algorithm for selecting key frames is prior art and will not be described here. Generally, the time interval between two key frames connected is short, and the image content overlap ratio in the two frame key frames is greater than a threshold.

In one embodiment, if the drone generates a task breakpoint during the execution of the task, the drone can trigger the setting of the task breakpoint. When the drone triggers the task breakpoint, the UAV may trigger an image taken by the photographing device mounted on the drone, and the image is an environment image of the task breakpoint captured by the photographing device. . The task breakpoint may include: an active breakpoint, an algorithm breakpoint, or a passive breakpoint. The active breakpoint is a manually triggered task breakpoint, for example, artificially ending or suspending the current task; the algorithm breakpoint may refer to an environment image captured by the camera that is not clear due to short-term changes in the environment. Therefore, the drone cannot establish a three-dimensional environment map according to the environment image, and the triggered task breakpoints, such as sudden changes in light, flying, etc., cause the drone to fail to establish a three-dimensional environment map according to the environment image captured by the camera, thereby The current task is interrupted; the passive breakpoint can refer to a task breakpoint caused by the drone's own reasons, such as loss of control signal, insufficient energy, loss of GPS signal, failure of the drone, and the like.

In some embodiments, after the drone triggers the setting of the task breakpoint, the task breakpoint information may also be acquired, and the task breakpoint information may include at least one frame of the key frame recently captured before the task breakpoint. The image information, the at least one of the track information including the waypoint and the route recorded by the drone during the mission before the execution of the task breakpoint, and the task completion degree.

In some embodiments, the task breakpoint information further includes location information of the task breakpoint. In some embodiments, the image information of the key frame further includes positioning information of the drone when the key frame is captured, and then the positioning information of the key frame captured last time before the task breakpoint is the positioning information of the task breakpoint. In some embodiments, when the drone triggers the setting of the task breakpoint, the positioning information at the same time is also acquired, and the positioning information is the positioning information of the task breakpoint.

In some embodiments, the location information of the task breakpoint is absolute location information (eg, GPS information) of the task breakpoint. In some embodiments, the location information of the task breakpoint is relative location information of the task breakpoint. Specifically, when the drone starts to take off from point A and starts to construct a three-dimensional environment map using the SLAM algorithm, The positioning information of the drone includes a relative position of the current position of the drone in the constructed three-dimensional environment map, for example including the relative position of the current position of the drone relative to the starting point A.

After the task breakpoint is generated, when the drone needs to fly to the task breakpoint, it can fly to the position indicated by the positioning information through the positioning information of the task breakpoint. If the drone that needs to fly to the task breakpoint determines the relative position of the current position of the drone and the starting point A, or the drone that needs to fly to the task breakpoint is currently in the environment corresponding to the three-dimensional environment map, then The drone can use only the relative position information of the task breakpoint to fly to the position indicated by the positioning information of the task breakpoint. If the location information of the task breakpoint is the absolute location information of the task breakpoint, the drone can fly to the location indicated by the location information by using the location information of the drone regardless of the location of the drone. .

FIG. 1 is a schematic diagram of a scenario for task breakpoint retrieval according to an embodiment of the present invention. As shown in FIG. 1 , the first drone starts from the mission start point 11 along the current flight route. The current task is executed, and if the first drone is interrupted during the execution of the current task, a task breakpoint 12 is generated. The drone can plan a route corresponding to the location information of the task breakpoint (ie, the target location 13) according to the acquired location information of the task breakpoint 12, and the second drone according to the planned route. Flying to the target position 13, wherein the second drone and the first drone may be the same drone or different drones. Theoretically, the target position and the task breakpoint are at the same position, but due to the error of the positioning sensor, the target position and the task break point are separated by a certain distance, and the distance between the target position 13 and the task break point 12 is within a preset distance. The preset distance depends on the error of the positioning sensor.

Further, the drone can capture the environmental image information by the imaging device at the target position 13, and can transmit the environmental image information captured at the target position 13 to the drone. The UAV can obtain specific image information from the acquired task breakpoint information, and the specific image corresponding to the specific image information may be captured by a photographing device mounted on the drone when the task breakpoint 12 is generated. The environmental image, or an environmental image captured by the imaging device mounted on the drone at a shooting location closest to the task breakpoint 12 before the task breakpoint 12 is generated. If the matching degree of the environment image acquired at the target position 13 and the specific image is greater than the preset value, wherein the preset value may be, for example, 95%, the preset value may be other pre-as needed a numerical value, the drone can determine the positional relationship between the target position 13 and the task breakpoint 12 based on the environmental image information acquired at the target position 13 and the specific image information, wherein the positional relationship may be, for example, The position corresponding to the task breakpoint 12 is at the upper left of the target position 13.

Further, the drone can move from the target position 13 to the position corresponding to the task breakpoint 12 based on the positional relationship. The drone may continue to capture an environment image during the movement to the task breakpoint 12 based on the positional relationship, and compare the captured environmental image with the environmental image at the task breakpoint 12, if If the matching degree is greater than the preset value, it is confirmed that the drone has reached the task breakpoint 12, otherwise the drone will continue to move to the task breakpoint 12 based on the positional relationship.

After the drone moves to a position corresponding to the task breakpoint 12, task information about the task breakpoint 12 may be acquired, wherein the task information includes track information before the task breakpoint And/or task completion before the task breakpoint. The drone may plan a target task based on the task information, where the target task includes task indication information, and the task indication information includes information such as a target moving route 15, a shooting location, a shooting time, and the like. The drone can move from the task breakpoint 12 in accordance with the target move route 15 in the planned target mission to execute the target mission.

In an embodiment, the drone detects the environmental image acquired at the target location 13 and the task breakpoint in the process of determining the positional relationship between the target location 13 and the task breakpoint 12 If the matching degree of the specific image acquired at 12 is lower than the preset value, the drone can acquire n (n>1) captured by the photographing device mounted on the mobile device before the task breakpoint 12 is generated. Reference images, which may be included in the key frames mentioned above. Wherein, each of the reference images refers to an environmental image that has been recorded within a preset distance from the target location 13 and is near the task breakpoint 12.

In one embodiment, the drone can sort the respective reference images according to the distance relationship between the position at the time of shooting and the target position 13 corresponding to each reference image. The drone can use the matching degree by sequentially matching the environmental image of the target position 13 with the sorted reference images until a matching image with a matching degree greater than a preset value is found. The reference image larger than the preset value and the environment image of the target position are calculated as a positional relationship between the position corresponding to the reference image whose matching degree is greater than the preset value and the target position. Further calculating, according to the reference image whose matching degree is greater than the preset value and the specific image of the task breakpoint 12, calculating a positional relationship between the position corresponding to the reference image whose matching degree is greater than the preset value and the task breakpoint, thereby calculating The positional relationship between the target location and the task breakpoint.

Further, the environmental image of the target position 13 is sequentially and sequentially sorted with each reference image. During the matching process, if the UAV detects that the matching degree of the environment image acquired at the target position 13 and the sorted reference image is greater than a preset value, the reference image (eg, the key frame 14 may be determined). Is a target reference image, and according to the positional relationship between the target position 13 and the position corresponding to the target reference image, and the positional relationship between the position corresponding to the target reference image and the task breakpoint 12, the target position 13 is calculated. The positional relationship of the task breakpoint 12. After determining the positional relationship, the drone can move from the target position 13 to the task breakpoint 12 based on the positional relationship.

In one embodiment, the process of the drone starting the target task from the task breakpoint includes: an online breakpoint flyover and an offline breakpoint flyover, wherein the online breakpoint continuous flight means the task is broken. The setting of the point and the step of determining the positional relationship of the target position with the task breakpoint are located in the same flight. One flight means that the take-off of the drone is taken as the starting point of the flight, and the first landing after the take-off and the flight is stopped as the end of the flight. For example, during the execution of the mission by the drone, the image taken by the camera at a certain point (task breakpoint) is unclear due to weather conditions, and the drone is required to return the task breakpoint along the current route. Re-execution of the mission to capture the image, the drone will not fall back and re-take off and fly to the task breakpoint of the unclear image, which is considered to be an online breakpoint. The offline breakpoint continuous flight refers to the setting of the task breakpoint and the steps of determining the positional relationship between the target position and the task breakpoint are respectively located in different flights. For example, when a drone performs a mission, the sudden change of climate change suddenly stops the task, and the position when the mission is stopped is the task breakpoint. After a period of time, for example, the next day, it is necessary to continue to implement the unfinished from the task breakpoint. The task is considered to be an offline breakpoint.

Further, in the process of performing the online breakpoint flight, the UAV first needs to initialize the UAV, load a configuration file, for example, perform initialization processing on the SLAM algorithm or the like. The SLAM algorithm may perform location estimation according to the environment image returned by the drone during the execution of the task, obtain location information of the drone in the space, and establish a three-dimensional environment map based on the location information, and After the machine stops executing the task (that is, the task is completed or the user interrupts the task), the complete 3D environment map is saved. In the process of finding the breakpoint of the task, the drone can find the required task breakpoint in different ways according to different types of the task breakpoint.

In one embodiment, if the type of the task breakpoint is an algorithm breakpoint, strategy one is performed, and the policy one may be to control the drone to fly in the reverse direction along the current route until the task breakpoint is found. In an embodiment, if the type of the task breakpoint is not an algorithm breakpoint, the second strategy is performed, and the second strategy may be to control the drone to automatically return to the landing and handle the abnormal event (such as replacing the battery, troubleshooting, etc.) , Then fly to the task breakpoint until the task breakpoint is found.

In an embodiment, the drone may select a target task that needs to be executed from the task breakpoint after the initialization process is completed, and load the offline three-dimensional environment map. The drone can plan a route to the task breakpoint according to the location information of the task breakpoint, and find the task breakpoint according to the planned route flight to the task breakpoint, and then start from the task breakpoint. Perform the target task.

Further, the specific implementation process of the breakpoint continuous flight can be illustrated by using FIG. 2 as an example. FIG. 2 is a schematic flowchart of a method for a breakpoint continuous flight according to an embodiment of the present invention, as shown in FIG. 2, and specific execution steps. as follows:

S201: The drone is initialized. The UAV initialization includes processing such as initialization of the SLAM algorithm mentioned above.

S202: Determine whether the offline breakpoint is continued. If the determination result is yes, step S203 is performed, otherwise step S204 is performed. The description regarding the offline breakpoint fly-off is as described above.

S203: Load the offline three-dimensional environment map, and execute step S206. The offline three-dimensional environment map includes a three-dimensional environment map established according to an image captured by a photographing device mounted on the drone before the task breakpoint.

S204: Perform position estimation by using a SLAM algorithm.

S205: Establish and maintain a three-dimensional environment map. In the online breakpoint continuous flight, the drone can acquire image information captured by the photographing device during the execution of the mission, and the drone can be established according to the image information. Maintain a 3D environment map.

S206: It is detected whether the task breakpoint triggering instruction is acquired. If the detection result is yes, step S207 is performed, and if the detection result is no, step S212 is performed.

S207: It is determined whether the acquired task breakpoint is an offline breakpoint. If the determination result is yes, step S209 is performed, and if the determination result is no, step S208 is performed. If the drone obtains the trigger instruction of the task breakpoint, the task breakpoint information may be acquired, and according to the task breakpoint information, it is determined whether the task breakpoint corresponding to the task breakpoint information is an offline breakpoint . The drone can determine whether the task breakpoint is an offline breakpoint by determining whether the task breakpoint is set and the step of determining the positional relationship between the target location and the task breakpoint is located in a different flight. For example, when a drone performs a task, the sudden change of climate change suddenly stops the task, and the position when the task is stopped is the task breakpoint. After a period of time, for example, the next day, it is necessary to continue to implement the unfinished work from the task breakpoint. The task It is considered to be an offline breakpoint.

S208: It is detected whether the task breakpoint is an algorithm breakpoint. If the detection result is yes, step S210 is performed, and if the detection result is no, step S209 is performed. After determining whether the task breakpoint is an offline breakpoint, the drone may perform a corresponding operation according to the type of the task breakpoint.

S209: Execute strategy 2, and execute step S211 after executing policy 2. The second strategy may be to control the drone to automatically return to the landing, and after processing the abnormal event, then fly to the task breakpoint until the task breakpoint is found.

S210: Execute policy one, and execute step S211 after executing policy one. The strategy one may be to fly in the reverse direction along the current route until the task breakpoint is found.

S211: Perform a breakpoint to continue flying. After the drone moves to the task breakpoint according to the above strategy, the target task is executed from the task breakpoint.

S212: Execute the task until the task stops. After stopping the task, the drone can save the three-dimensional environment map obtained during the execution of the task. The task includes a task before the task breakpoint and a target task after the task breakpoint, and the three-dimensional environment map is established during the entire flight of the drone.

In one embodiment, the drone can find the task breakpoint in different ways according to the type of the task breakpoint: for the active breakpoint and the passive breakpoint, after the task breakpoint is generated, the drone moves along The route moves back to the starting point, and then finds the task breakpoint along the moved route according to the obtained location information of the task breakpoint, so that sufficient task overlapping area can be ensured to plan a new route. For algorithm breakpoints, the drone does not need to move back to the starting point and re-route the route along the moved route, just fly back along the moved route until the task breakpoint is found.

In an embodiment, when the drone is set to the task breakpoint, the location information of the task breakpoint may be sent to the ground station, and the ground station may send the location information of the task breakpoint to the ground. A drone to enable multiple drones to perform targeted tasks. Among them, each drone can be controlled by the same ground station. In the process of cooperating the target tasks, the plurality of drones can be divided into single task multi-machine cooperation and multi-task multi-machine cooperation according to different execution modes, wherein the single task multi-machine cooperation refers to the same A task is completed by multiple drones at the same time; the multi-task multi-machine collaboration means that multiple tasks are completed simultaneously by multiple drones.

In an embodiment, the location information of the task breakpoint includes task information of the target task, and the ground station may obtain the task of the target task according to the obtained location information of the task breakpoint. Information, and according to the task information of the target task and the number of drones, plan task information for each drone. The ground station can send the location information of the task breakpoint planned for each drone to each drone, wherein the location information of each task breakpoint carries the task information of each drone. Each of the drones may determine a respective connection location point according to the location information of the task breakpoint, and the connection location point may be the task breakpoint or a key frame near the task breakpoint. Corresponding location point. Each drone may, according to the obtained task information included in the position information of the task breakpoint, start from the respective connection position points to the task starting point indicated in the respective task information according to the respective route to execute the corresponding target task. Subtask in .

In one embodiment, assuming that two drones cooperate to perform a target task, the implementation process may be: the first drone first takes off to perform the first task, if the first drone The location information of the task breakpoint is set in the process of executing the first task, and the first drone can transmit the location information of the task breakpoint to the ground station. The ground station may send the acquired task information in the location information of the task breakpoint to the second drone. The second drone can determine the location point according to the obtained location information of the task breakpoint, wherein the connection location point can be a task breakpoint or a reference image near the task breakpoint. Position the point and get the positional relationship with the starting point of the first drone. The second drone may start from the determined connection position point to the start point of the second task indicated in the location information of the task breakpoint, and execute the first step from the beginning of the second task Two tasks. Such a push ground station can plan the task information of each drone according to the position information of the task breakpoint and the number of drones, and send the planned task information to each drone so that the drones can execute The subtasks indicated by the respective task information, so that the plurality of drones cooperate to perform the target task.

FIG. 3 is a schematic diagram of a multi-machine collaborative execution task according to an embodiment of the present invention. As shown in FIG. 3, the target task to be completed in the example includes three subtasks. The first drone 31 goes to the start point 311 of the first task 1 to execute the first task 1, and saves the three-dimensional environment map during the execution of the first task 1 by the first drone 31. The first drone 31 sets a task breakpoint 34 in the process of executing the first task 1, and transmits the location information of the task breakpoint 34 to the ground station. The ground station acquires the location information of the task breakpoint 34 set by the first drone 31, wherein the first drone 31 continues to execute at the task breakpoint 34 after setting the task breakpoint 34. After the first task 1 is not completed. The ground station plans the tasks of the drones according to the obtained task information in the position information of the task breakpoints and the number of drones. Information, and the location information of the mission information carrying each drone is sent to each drone.

In one embodiment, the ground station can transmit the location information of the task breakpoint 34 to the second drone 32, wherein the location information of the task breakpoint includes the indication to the second drone 32. Task information. The second drone 32 can determine the first articulation location point 321 according to the location information of the task breakpoint sent by the ground station, wherein the first articulation location point 312 can be the task breakpoint 34, or can be The key frame near the task breakpoint 34 is described above, and the explanation of the key frame is as described above, and details are not described herein again. The position information of the task breakpoint 34 acquired by the second drone 32 includes the task information indicated to the second drone 32. The second drone 32 can take the position corresponding to the first connection position point 312 as the origin of the three-dimensional environment map of the second task 2, and fly from the first connection position point 312 to the first indicated by the task information. The starting point of the second task 2 is to perform the second task 2. Regarding the third drone 33 and so on, the ground station can transmit the position information of the task breakpoint 34 to the drone number 33, wherein the position information of the task breakpoint includes the indication to the third number. The mission information of the drone 33. The third drone 33 can perform the third task 3 according to the location information of the task breakpoint. It can be seen that the implementation manner provided by the embodiment of the present invention implements multi-machine coordination in a large-scale drone, and improves the efficiency of performing tasks.

Further, the single-task multi-machine cooperation can be subdivided into single-task single-station multi-machine cooperation and single-task multi-station multi-machine cooperation. Among them, the single-task single-station multi-machine synergy means that multiple drones complete the target mission in one flight. FIG. 4 is a schematic diagram of another multi-machine cooperative execution task according to an embodiment of the present invention. As shown in FIG. 4, the figure includes: a first drone 42 and a second none. The human machine 43, the third drone 44 and the fourth drone 45, the first drone 42 sets the position information of the task breakpoint 41 during the flight, and sets the position information of the task breakpoint 41. Send to the ground station. The ground station can plan task information for the second drone 43, the third drone 44, and the fourth drone 45 according to the location information of the task breakpoint 41 and the number of the drones, wherein The task information includes location information indicating a starting point of a task for each drone. The ground station can send the position information of the planned task breakpoint 41 to the second drone 43, the third drone 44, and the fourth drone 45, respectively, and the position information of the task breakpoint 41 is carried. Their respective mission information. Each drone can determine a respective connection position point according to the obtained location information of the task breakpoint 41, and the connection position point can be a task breakpoint 41 or a position corresponding to a key frame near the task breakpoint. .

In one embodiment, the first drone 42 follows the location information of the set task breakpoint 41. Continuing to perform the first task, the second drone 43 may start from the determined connection position point to the task start point of the second drone 43 according to the planned route (the drone described in the example) The task origin of 43 is the task breakpoint 41) to execute the second task indicated to the second drone 43 in the task information acquired by the second drone 43. Similarly, the third drone 44 can perform the third drone 44 acquisition from the determined docking point to the task origin 441 of the third drone 44 according to the planned route. The task information that is arrived is indicated to the third task of the third drone 44. The fourth drone 45 can fly to the task start point 451 of the fourth drone 45 from the determined connection position point according to the planned route to execute the location acquired by the fourth drone 45. The fourth task indicated by the task information to the fourth drone 45. It can be seen that the embodiment of the present invention can improve the efficiency of the UAV performing tasks by implementing single task single-station multi-machine cooperation.

Further, the above-mentioned single-task multi-station multi-machine cooperation refers to multiple flights to complete tasks by multiple unmanned aerial vehicles, and the single-task multi-station multi-machine synergy is directly from the task. Click to start the target task. For example, two drones cooperate to trigger a task breakpoint to prepare for returning to replace energy when the remaining energy of the drone is insufficient, while another drone takes off to the task breakpoint to perform an unfinished target mission.

In an embodiment, the multi-task multi-machine cooperation is specifically illustrated by using FIG. 5 as an example. FIG. 5 is a schematic diagram of another multi-machine cooperative execution task according to an embodiment of the present invention. The multi-task multi-machine cooperation is similar to the single-task single-station multi-machine cooperation, as shown in FIG. 5, including: a first drone 54, a second drone 55, a third drone 56, and a fourth drone. 57 four drones. The first drone 54 sets the position information of the task breakpoint 51 during the execution of the first task, and transmits the position information of the task breakpoint 51 to the ground station. The ground station can plan task information for the second drone 55, the third drone 56, and the fourth drone 57 according to the location information of the task breakpoint 51 and the number of the drones, wherein The task information includes location information indicating a starting point of a task for each drone. The ground station can send the position information of the respective task breakpoints 51 after the planning to the second drone 55, the third drone 56, and the fourth drone 57, respectively, and the position information of the task breakpoint 51 is carried. Their respective mission information. Each drone can determine a respective connection position point according to the obtained location information of the task breakpoint 51, and the connection position point may be a task breakpoint 51, or may be a position point corresponding to a key frame near the task breakpoint. .

In one embodiment, the first drone 54 continues to perform the first task after setting location information of the task breakpoint. The second drone 55 can fly from the docking point to the second drone The task start point 551 of 55 is to perform the second task of the second drone 55 to perform the task information acquired by the second drone 55. At the same time, the third drone 56 can fly from the docking point to the task start point 561 of the third drone 56 to execute the task information indication obtained by the third drone 56 to the third none. The third task of the man machine 56. Similarly, the fourth drone 57 can fly from the docking point to the task start point 571 of the fourth drone 57 to execute the task information indication acquired by the fourth drone 57 to the first The fourth task of the four drones 57. It should be noted that the task connection area 52 between the same areas is smaller than the width 53 of the navigation belt to ensure the connection of the respective sub-tasks, for example, when the drone performs the plant protection pesticide spraying, it can ensure that no leakage occurs. It can be seen that the embodiment provided by the embodiment of the present invention can reduce time consumption and improve efficiency when using a single shelf to perform tasks in a large area.

The task execution method provided by the embodiment of the present invention can be applied to a video shooting task of a mobile device such as a robot capable of autonomous movement, and the task execution method for the mobile device is exemplified below with reference to the accompanying drawings.

Referring to FIG. 6, FIG. 6 is a schematic flowchart of a task execution method according to an embodiment of the present invention. The method is applied to a mobile device capable of autonomously moving, where the mobile device is mounted with a photographing device, wherein the mobile device The specific explanation of the device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S601: Acquire location information of a task breakpoint.

In the embodiment of the present invention, the mobile device may obtain the location information of the task breakpoint, where the location information of the task breakpoint includes: environment image information of the task breakpoint, and the environment image information includes a shot mounted on the mobile device. The image captured by the device and the posture information of the imaging device when the image is captured. The environment image may be a specific image captured by the mobile device when a task breakpoint is generated, or may be a reference image, which may be included in the key frame mentioned above. Wherein, each of the reference images refers to an environmental image that has been recorded within a preset distance from the target location and is near the task breakpoint. Specifically, FIG. 1 is taken as an example for description. It is assumed that the mobile device is a drone. As shown in FIG. 1 , if the drone generates a task breakpoint 12 in FIG. 1 , the drone can acquire the unmanned machine. Environmental image information captured by the human machine at the task breakpoint 12, the environmental image information including an environmental image captured by the drone when the task breakpoint 12 is generated and/or before the drone generates the task breakpoint 12 A reference image taken near the task breakpoint 12 is a key frame 14, which is a camera mounted on the drone before the task breakpoint 12 is generated, according to the task. The environmental image captured in the area determined by the positioning information of the point 12.

S602: Determine a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint.

In the embodiment of the present invention, the mobile device may determine the positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, wherein the target location and the task The distance of the breakpoint is less than the preset distance.

In one embodiment, the location information of the task breakpoint acquired by the mobile device includes location information, and the mobile device may determine a target location according to the location information to move to the target location. The mobile device can acquire environment image information captured by the camera mounted on the mobile device at the target location, and determine according to the environment image information acquired at the target location and the environment image information of the task breakpoint. The positional relationship between the target location and the task breakpoint.

In one embodiment, the environment image information of the task breakpoint acquired by the mobile device includes specific image information, and the specific image included in the specific image information is an environment image taken by a shooting location closest to the task breakpoint distance. , the specific image can be used as the environment image at the breakpoint of the task. The determining, by the mobile device, determining the positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the specific image information in the process of determining the positional relationship between the target location and the task breakpoint . Specifically, the mobile device may detect the matching degree of the environment image information acquired at the target location with the specific image information, and if the matching degree is greater than the preset value, may be based on the environment image acquired at the target location. The information and the specific image information are used to calculate a positional relationship between the target location and the task breakpoint. Specifically, FIG. 1 is an example. It is assumed that the mobile device is a drone, and it is assumed that the mobile device acquires a specific image captured by a photographing device mounted on the drone at a shooting location closest to the task breakpoint 12, An environmental image captured by the photographing device at the target position 13 is obtained. If the mobile device detects that the matching degree of the environment image acquired at the target location 13 with the specific image is 98%, that is, the matching degree is greater than 95% (preset value), the mobile device may be based on the target location. Obtaining the environmental image information and the specific image information, and calculating a positional relationship between the target location and the task breakpoint. It can be seen that the implementation manner can locate the positional relationship between the target location and the task breakpoint by using the location information of the task breakpoint and the specific image information, thereby improving the positioning accuracy.

In one embodiment, the mobile device detects the location image of the target location and the task breakpoint, if the mobile device detects the environment image and the task breakpoint acquired at the target location The matching degree of the specific image is lower than a preset value, the mobile device may acquire at least one of the reference image information, wherein the reference image includes a reference image that is an environment image taken before the task breakpoint And the distance between the shooting location of the reference image and the task breakpoint is less than the preset distance, and the mobile device may determine, according to the environmental image information acquired in the target location and each reference image information. The relationship between the target location and the task breakpoint. For example, assume that a camera mounted on the mobile device captures n (n > 1) reference images before the task breakpoint is generated, and the reference image may be included in the key frame mentioned above. Wherein, each of the reference images refers to an environmental image that has been recorded within a preset distance from the target location and is near the task breakpoint. The mobile device may sort each reference image by sequentially matching the environment image of the target location with the sorted reference images in an order of arrangement until the reference image and the environment image of the target location can be used to calculate the reference a positional relationship corresponding to the image and a positional relationship corresponding to the target position, and calculating a positional relationship between the position corresponding to the reference image and the task breakpoint by using the reference image and the specific image at the task breakpoint, thereby calculating the position The positional relationship between the target location and the task breakpoint.

Further, in the process of sequentially matching the environment image of the target location with the sorted reference images, the mobile device may detect the matching degree between the environment image acquired at the target location and each sorted reference image. If it is detected that the matching degree is greater than the preset value, the reference image may be determined as a target reference image, and according to the positional relationship corresponding to the target reference image and the corresponding position of the target reference image The positional relationship of the task breakpoint is calculated, and the positional relationship between the target position and the task breakpoint is calculated.

In an embodiment, the mobile device may obtain various references according to positioning information (such as GPS information) of each reference image and positioning information of the environment image at the target location in the process of sorting the respective reference images. A distance relationship between the position corresponding to the image and the target position or a degree of matching between the respective reference image and the environment image of the target position, and a degree of matching between the respective reference image and the specific image at the task breakpoint. The mobile device may be configured according to a distance relationship between a position corresponding to each reference image and the target position, a matching degree of each reference image and an environment image of the target position, and a matching degree of each reference image and a specific image at the task breakpoint. Each of the reference images is sorted by any one or more.

Specifically, FIG. 1 is taken as an example. It is assumed that the mobile device is a drone, and it is assumed that the mobile device acquires the photographing location of the photographing device near the task breakpoint 12 before the task breakpoint 12 is generated. The n (n>1) reference images are captured, and the environment image captured by the camera at the target position 13 is obtained, and the mobile device can sort the reference images according to the foregoing embodiment. I will not repeat them here. If the mobile device detects that the matching degree of the environment image acquired at the target position 13 and the sorted key frame 14 (reference image) is 98%, the matching degree is greater than 95% (preset value), so it can be determined The key frame 14 is a target reference image, and the positional relationship corresponding to the target reference image (key frame 14) and the position corresponding to the target reference image according to the position corresponding to the environment image of the target position 13 and the task are broken. The positional relationship of the point is calculated, and the positional relationship between the target position and the task breakpoint is calculated. It can be seen that the implementation manner can determine the positional relationship between the target location and the task breakpoint, and improve the positioning accuracy of the task breakpoint.

S603: Control the mobile device to move from the target location to the task breakpoint based on the location relationship.

In the embodiment of the present invention, after determining the positional relationship between the target location and the task breakpoint, the mobile device may control the mobile device to move from the target location to the task breakpoint based on the location relationship. Specifically, after determining the location relationship between the target location and the task breakpoint, the mobile device may plan a route of the mobile device moving from the target location to the task breakpoint based on the location relationship, and control the mobile device to follow the path. The route moves from the target location to the task breakpoint. Specifically, FIG. 1 is taken as an example. If the mobile device is a drone, and the UAV determines the positional relationship between the target position 13 and the task breakpoint 12, the UAV can The positional relationship is planned to fly from the target position 13 to the mission breakpoint 12 and fly from the target location 13 to the mission breakpoint 12 according to the route.

In an embodiment, after the mobile device moves from the target location to the task breakpoint based on the location relationship, the task information about the task breakpoint may be acquired, where the task information is included before the task breakpoint. Track information and/or task completion before the task breakpoint. The mobile device may plan a target task based on the task information, where the target task includes task indication information, the task indication information includes information such as a target moving route, a shooting location, a shooting time, and the like, and the mobile device may follow the planned target. The target movement route in the mission moves from the task breakpoint to execute the target mission. Specifically, FIG. 1 is taken as an example for explaining that the mobile device is a drone, and the drone controls the drone to move from the target position 13 to the task breakpoint 12 based on the positional relationship. The task information about the task breakpoint 12 can be obtained, wherein the task information includes track information before the task breakpoint 12 and/or task completion before the task breakpoint. The drone can plan the target task based on the task information, and according to the target in the planned target task The target movement route 15 starts moving from the task breakpoint to execute the target task.

In the embodiment of the present invention, the mobile device determines the location of the target location and the task breakpoint according to the location information of the task breakpoint, according to the environment image information acquired at the target location and the environment image information of the task breakpoint. And controlling, based on the positional relationship, the mobile device to move from the target location to the task breakpoint to achieve rapid effectiveness of task breakpoint location.

Referring to FIG. 7, FIG. 7 is a schematic flowchart diagram of another task execution method according to an embodiment of the present invention. The method is applied to a mobile device capable of autonomously moving, and the mobile device is mounted with a photographing device, and the task is executed. The method can be performed by a mobile device, wherein the specific interpretation of the mobile device is as previously described. The method embodiment is different from the embodiment described in FIG. 6 in that, in the embodiment of the present invention, the mobile device triggers the setting of the task breakpoint before acquiring the location information of the task breakpoint, and determines that the task is broken. The setting of the point and the step of determining the positional relationship of the target position with the task breakpoint are located in the same flight to control the movement of the mobile device to the target position determined based on the positioning information of the task breakpoint. Specifically, the method of the embodiment of the present invention includes the following steps.

S701: Trigger the setting of the task breakpoint.

In the embodiment of the present invention, the mobile device may trigger the setting of the task breakpoint, wherein the step of setting the task breakpoint and determining the positional relationship between the target location and the task breakpoint may be located in the same flight, the same time Flying means flying again from the mobile device without moving back to the starting point with the moving route. For example, during the execution of the mission by the drone, the image taken by the camera at a certain point (task breakpoint) is unclear due to weather conditions, and the drone is required to return the task breakpoint along the current route. Re-execution of the mission to capture the image, the drone will not fall back and re-take off and fly to the task breakpoint of the unclear image, which is also considered to be an online breakpoint. In one embodiment, the step of setting the task breakpoint and determining the positional relationship of the target location to the task breakpoint may be in different flights. For example, when a drone performs a task in a sudden encounter with climate change, the task is stopped urgently, and the position at the time of stopping the task is a task breakpoint. After a period of time, for example, the next day, it is necessary to continue to perform the unfinished task from the task breakpoint. This is also considered to be an offline breakpoint.

Further, it should be noted that the task breakpoints can be divided into: active breakpoints, algorithm breakpoints, or passive breakpoints. The active breakpoint is a manually triggered task breakpoint, for example, artificially ending or suspending the current task; the algorithm breakpoint may refer to an environment image captured by the camera that is not clear due to short-term changes in the environment. So that the mobile device cannot establish a three-dimensional environment based on the environment image. The task breakpoint triggered by the map, such as a sudden change in light, flying, etc., causes the mobile device to create a three-dimensional environment map according to the environmental image captured by the camera, thereby interrupting the current task; the passive breakpoint may refer to the drone itself. Causes of task breakpoints, such as loss of control signals, lack of energy, loss of GPS signals, drone failure, etc.

S702: Acquire location information of a task breakpoint.

In the embodiment of the present invention, the mobile device may obtain the location information of the task breakpoint, where the location information of the task breakpoint includes: environment image information of the task breakpoint, and the environment image information includes a shot mounted on the mobile device. The image captured by the device and the posture information of the camera when the image is captured; the environment image may be an environment image captured when the mobile device generates a task breakpoint, or may be a reference image, and the reference image may be included in the above Mentioned in the key frame. Wherein, each of the reference images refers to an environmental image that has been recorded within a preset distance from the target location and is near the task breakpoint. The specific implementation is as described in the foregoing embodiment, and details are not described herein again.

S703: Plan a moving route of the mobile device according to the task breakpoint.

In the embodiment of the present invention, the mobile device may plan a moving route of the mobile device according to the task breakpoint. Specifically, the mobile device may plan a moving route of the mobile device from the current location to the task breakpoint according to the location information of the task breakpoint and the location information of the current location of the mobile device.

S704: Control the mobile device to move to the target location determined based on the location information of the task breakpoint according to the planned movement route.

In the embodiment of the present invention, the mobile device may control the mobile device to move to the target location determined based on the location information of the task breakpoint according to the planned movement route. Specifically, the mobile device may determine the target location according to the acquired location information of the task breakpoint to control the mobile device to move to the target location according to the planned movement route.

In an embodiment, if the mobile device is an unmanned aerial vehicle, the setting of the task breakpoint acquired by the mobile device and the step of determining the positional relationship between the target location and the task breakpoint are located in the same flight, then the The UAV can move back to the target position along the moved route.

In one embodiment, if the setting of the task breakpoint acquired by the mobile device and the step of determining the positional relationship between the target location and the task breakpoint are located in different flights, the mobile device may break the task. The location indicated by the location information is determined as the target location, and the mobile route is planned according to the location information of the task breakpoint and the location information of the target location, and the mobile device is controlled to move to the target location according to the mobile route.

S705: Determine a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint.

In the embodiment of the present invention, after controlling the mobile device to move to the target location, the mobile device may acquire environment image information at the target location, and according to the environmental image information acquired at the target location and the task breakpoint The environment image information determines a positional relationship between the target location and the task breakpoint, wherein the distance between the target location and the task breakpoint is less than a preset distance. The specific implementation is as described in the foregoing embodiment, and details are not described herein again.

S706: Control the mobile device to move from the target location to the task breakpoint based on the location relationship.

In the embodiment of the present invention, after determining the positional relationship between the target location and the task breakpoint, the mobile device may control the mobile device to move from the target location to the task breakpoint based on the location relationship. Specifically, after determining the location relationship between the target location and the task breakpoint, the mobile device may plan a route of the mobile device moving from the target location to the task breakpoint based on the location relationship, and control the mobile device to follow the path. The route moves from the target location to the task breakpoint. In one embodiment, the type of the task breakpoint includes: an active breakpoint, a passive breakpoint, or an algorithm breakpoint, wherein the active breakpoint, the passive breakpoint, or the algorithm breakpoint is interpreted as described in the above embodiment. I won't go into details here. If the task breakpoint is an active breakpoint or a passive breakpoint, the mobile device may control the mobile device to return to the starting point of the current moving route along the current moving route after the task breakpoint is generated, and then return to the task. Breakpoints so that sufficient task overlap areas can be secured to plan the movement of the mobile device to the target location. If the task breakpoint is an algorithm breakpoint, there is no need to control the mobile device to return to the starting point along the current moving route, and only control the mobile device to move back along the current moving route until the task breakpoint is found. The specific implementation is as described in the foregoing embodiment, and details are not described herein again.

In one embodiment, the mobile device may acquire task information about the task breakpoint after controlling the mobile device to move from the target location to the task breakpoint based on the location relationship, wherein the task information Includes track information before the task breakpoint and/or task completion before the task breakpoint. The mobile device may plan a target task based on the task information, where the target task includes task indication information, and the task indication information includes information such as a target moving route, a shooting location, a shooting time, and the like. The mobile device can control the mobile device to move from the task breakpoint in accordance with the target movement route in the planned target task to execute the target task. The specific implementation is as described in the foregoing embodiment, and details are not described herein again.

In the embodiment of the present invention, the mobile device acquires the bit of the task breakpoint by triggering the setting of the task breakpoint. Setting information, planning a movement route of the mobile device according to the task breakpoint, controlling the mobile device to move to the target position determined based on the positioning information of the task breakpoint according to the planned movement route, according to the environment image acquired at the target location Information and environment image information of the task breakpoint, determining a positional relationship between the target location and the task breakpoint, and controlling the mobile device to move from the target location to the task breakpoint based on the location relationship In order to achieve fast and efficient positioning of task breakpoints, and achieve multi-machine cooperative execution tasks based on the task breakpoints, the efficiency of executing tasks is improved.

Referring to FIG. 8, FIG. 8 is a schematic diagram of interaction of a task execution method according to an embodiment of the present invention. The method is applied to a task execution system, where the task execution system includes a first mobile device capable of autonomous movement and a second mobile The device, the first mobile device and the second mobile device are each mounted with a camera. The first mobile device and the second mobile device may be robots such as drones and unmanned vehicles. Specifically, the method of the embodiment of the present invention includes the following steps:

S801: The first mobile device sets location information of the task breakpoint during the execution of the first task.

In the embodiment of the present invention, the first mobile device may set location information of the task breakpoint during the execution of the first task, where the location information of the task breakpoint includes: environmental image information of the task breakpoint, and the task is broken. Point location information. In some embodiments, the location information of the task breakpoint is absolute location information (eg, GPS information) of the task breakpoint. In some embodiments, the location information of the task breakpoint is relative location information of the task breakpoint. Specifically, when the first mobile device starts to use the SLAM algorithm to construct the three-dimensional environment map after taking off from the point A, the positioning information of the first mobile device includes a relative position of the current location of the first mobile device in the constructed three-dimensional environment map. For example, including the relative position of the current position of the first mobile device relative to the starting point A.

In one embodiment, the first mobile device may set positioning information of the task breakpoint by using a positioning sensor, and shoot at a set task breakpoint by a photographing device mounted on the first mobile device. Image, obtaining environmental image information of the task breakpoint.

S802: The first mobile device sends location information of the task breakpoint to the ground station, so that the ground station sends location information of the task breakpoint to the second mobile device.

In the embodiment of the present invention, the first mobile device may send location information of the task breakpoint to the ground station, so that the ground station sends location information of the task breakpoint to the second mobile device. . Specifically, the first mobile device may send positioning information of the task breakpoint and/or environment image information to a ground station. The location information of the task breakpoint includes task information of the task breakpoint, and the ground station may obtain the foregoing according to the obtained location information of the task breakpoint. The task information of the breakpoint is sent, and the location information of the task breakpoint carrying the task information is sent to the second mobile device.

S803: The second mobile device acquires location information of the task breakpoint sent by the ground station.

In the embodiment of the present invention, the second mobile device may acquire location information of the task breakpoint sent by the ground station, and obtain task information indicated to the second mobile device from the location information. The second mobile device may acquire start position information of the task indicated to the second mobile device according to the task information.

S804: The second mobile device moves to the target location determined based on the location information of the task breakpoint.

In the embodiment of the present invention, the second mobile device may move to the target location determined based on the positioning information of the task breakpoint, wherein the distance between the target location and the task breakpoint is less than a preset distance.

S805: The second mobile device determines the positional relationship between the target location and the connection location point according to the environment image information acquired at the target location and the environment image information of the task breakpoint.

In the embodiment of the present invention, the second mobile device may determine the positional relationship between the target location and the connection location point according to the environment image information acquired at the target location and the environment image information of the task breakpoint. The connection location point may be the task breakpoint or a location point corresponding to a key frame near the task breakpoint. The explanation of the key frame is as described above, and will not be described herein.

In an embodiment, the second mobile device may determine the connection location point according to the acquired location information of the task breakpoint. The method by which the second mobile device determines the location point is similar to the method of determining the task breakpoint. In an embodiment, the second mobile device may move to a target location determined based on the positioning information according to the positioning information of the task breakpoint, and pass the camera mounted on the second mobile device. The image is captured to obtain environmental image information of the target location. The second mobile device may match the environment image of the target location with the environment image information of the task breakpoint, and use the location corresponding to the environment image included in the environment image information of the successfully matched task breakpoint as the Connect the location point. Specifically, FIG. 3 is taken as an example. It is assumed that the mobile device is a drone, and the UAV 31 sets a task breakpoint 34 during the execution of the first task 1, and the task breakpoint 34 is The location information is sent to the ground station, and the ground station sends the location information of the task breakpoint to the second drone 32, and the second drone 32 can determine the second according to the location information of the task breakpoint. The docking point 32 of the drone 32 is located.

In an embodiment, the environmental image information of the task breakpoint may include reference image information, and the reference image includes a reference image that is mounted by the photographing device on the first mobile device. An environment image taken during a task, the distance between the shooting location of the reference image and the task breakpoint is less than a preset distance. The second mobile device may acquire at least one of the reference image information based on the location information of the task breakpoint. Matching the environment image included in the environmental image information of the target location with the reference image included in each reference image information according to the environmental image information acquired at the target location and the reference image information, and matching the reference image that is successfully matched It is determined as a target reference image, and a position point corresponding to the target reference image is determined as a convergence position point. The second mobile device may determine a positional relationship between the target location and the connection location point according to a relationship between an environment image of the target location and the target reference image.

In an embodiment, the environmental image information of the task breakpoint may include specific image information, where the specific image includes a specific image: the photographing device mounted on the first mobile device is in the The task breakpoint is an environmental image taken from the nearest shooting location. In an embodiment, the second mobile device may determine the location corresponding to the specific image as the connection when the matching degree of the environment image acquired by the target location and the specific image is greater than a preset value. Location point. The second mobile device may determine a positional relationship between the target location and the connection location point based on the environmental image information acquired at the target location and the specific image information. The specific implementation process is as described above, and will not be described here.

S806: The second mobile device moves from the target position to the connection position point based on the positional relationship, and performs a second task based on the connection position point.

In the embodiment of the present invention, the second mobile device may move from the target position to the connection position point based on the positional relationship, and perform a second task based on the connection position point. In an embodiment, the location information of the task breakpoint further includes task information of the second task, and the second mobile device may obtain the location information of the task breakpoint indicated to the second mobile device. Task information of the second task, where the task information includes location information of a starting point of the second task. The second mobile device may plan the second task based on the task information, and control the second mobile device to move from the connection position point to a starting position of the second task, and start from the starting position Performing the second task.

In one embodiment, it is assumed that the mobile device is a drone, and two drones cooperate to perform a target task, and the implementation process may be: the first drone first takes off to perform the first task, If the first drone sets a task breakpoint during the execution of the first task, the first drone can save a three-dimensional environment map, and the first drone can break the task The location information is sent to the ground station. The ground station may send the acquired task information in the location information of the task breakpoint to the second drone, and the second drone may determine the connection location according to the location information of the task breakpoint. The connection location point may be a location point corresponding to the reference breakpoint or the reference image near the task breakpoint, and obtain a positional relationship with the start of the first drone. The second drone may start from the determined connection position point to the start point of the second task indicated in the location information of the task breakpoint, and execute the first step from the beginning of the second task Two tasks. Such a push ground station can plan the task information of each drone according to the position information of the task breakpoint and the number of drones, and control the subtasks indicated by the respective drones to perform the respective task information, thereby The machine cooperates to perform the target task.

In one embodiment, the second mobile device may move from the target location to the docking location point based on the positional relationship, and perform the second task from the docking location point; wherein the second task A task and a second task are two different task phases of the same task. For example, two drones cooperate to perform a target task. When the remaining unmanned energy of the No. 1 drone is insufficient in the execution of the target mission, the task breakpoint is triggered to return to replace the energy, and another drone takes off. The task breakpoint performs an unfinished target task.

In one embodiment, the second mobile device may move from the target position to the articulated position point based on the positional relationship, from the articulated position point to a starting position of the second task, from the slave The starting point begins to execute the second task, wherein the first task and the second task are two different task phases of the same task. Specifically, FIG. 4 is taken as an example for description. It is assumed that the mobile device is a drone. Taking the first drone 42 and the second drone 43 in the figure as an example, the first drone 42 sets a task during flight. The break point 41 is sent to the ground station for the location information of the task breakpoint 41. The ground station may plan task information for the second drone 43 according to the location information of the task breakpoint 41 and the number of drones, wherein the task information includes a task indicated to the second drone The location information of the starting point. The ground station can transmit the location information of the task breakpoint 41 carrying the task information to the second drone 43. The second drone 43 can determine the convergence position point based on the acquired position information of the task breakpoint 41.

In one embodiment, the first drone 42 continues to perform the first task after setting the task breakpoint 41, and the second drone 43 can fly from the determined convergence point according to the planned route. Going to the task start point of the second drone 43 (the task start point of the drone 43 is the task break point 41 in this example) to execute the task acquired by the second drone 43 A second task to the second drone 43 is indicated in the message. It can be seen that the embodiment of the present invention can improve the efficiency of the UAV performing tasks by implementing single task single-station multi-machine cooperation.

In one embodiment, the second mobile device may move from the target position to the engagement position point based on the positional relationship, from the engagement position point to a starting position of the second task, the second The mobile device performs the second task from the starting point position, wherein the first task and the second task are two different tasks. Specifically, FIG. 5 is taken as an example. Assume that the first mobile device and the second mobile device are the first drone 54 and the second drone 55 in the figure, and the first drone 54 is in the process of executing the first task. A task breakpoint 51 is set and the location information of the task breakpoint 51 is sent to the ground station. The ground station may plan task information for the second drone 55 according to the location information of the task breakpoint 51 and the number of the drones, wherein the task information includes an indication to the second drone The location information of the task start point of 55. The ground station can transmit the location information of the task breakpoint 51 carrying the respective task information to the second drone 55. The second drone 55 can determine the respective connection position points according to the acquired location information of the task breakpoint 51.

In one embodiment, the first drone 54 continues to perform the first task after setting a task breakpoint. The second drone 55 can fly from the docking point to the task start point 551 of the second drone 55 to execute the task information indication obtained by the second drone 55 to the second unmanned person. The second task of machine 55.

For the case where a plurality of mobile devices cooperate to perform a target task, refer to the foregoing embodiment, and details are not described herein again.

Referring to FIG. 9, FIG. 9 is a schematic structural diagram of a mobile device according to an embodiment of the present invention. Specifically, the mobile device is mounted with a photographing device, and the device includes a memory 901, a processor 902, an input interface 903, and an output interface 904.

The memory 901 may include a volatile memory; the memory 901 may also include a non-volatile memory; the memory 901 may also include a combination of the above types of memories. The processor 902 can be a central processing unit (CPU). The processor 902 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD can be complex and editable A complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

Optionally, the memory 901 is configured to store program instructions. The processor 902 can call the program instructions stored in the memory 901 for performing the following steps:

Further, the processor 902 is further configured to perform the following steps:

Controlling the mobile device to move to the target location determined based on location information of the task breakpoint.

Triggering the setting of the task breakpoint;

The step of setting the task breakpoint and the step of determining the positional relationship between the target position and the task breakpoint are located in the same flight, or are respectively located in different flights.

Planning a moving route of the mobile device according to the task breakpoint;

The mobile device is controlled to move to a target location determined based on the location information of the task breakpoint according to the planned movement route.

Move back to the target position along the moved route.

Determining, by the location information indicated by the location information of the task breakpoint, the target location;

Controlling movement of the mobile device to the target location.

And when the degree of matching between the environment image acquired at the target location and the specific image is greater than a preset value, based on the environment image information acquired at the target location and the specific image information Determining a positional relationship between the target location and the task breakpoint.

Acquiring at least one of the reference image information when a matching degree of the environment image acquired at the target location and the specific image is less than a preset value;

And determining a relationship between the target location and the task breakpoint based on the environment image information acquired at the target location and each reference image information.

Sorting the respective reference images;

And sequentially matching the sorted each reference image with the environment image acquired at the target position according to an arrangement order of each reference image after sorting;

Determining the target location and the task based on a positional relationship of a location of the photographing location corresponding to the image matching success and a positional relationship of the target location, and according to a positional relationship between the location of the target reference image and the task breakpoint The relationship of breakpoints.

And sorting the respective reference images according to a distance between a location of the shooting location corresponding to each of the reference images and the target location, and a matching degree of the respective reference images and the specific image;

Or sorting the respective reference images according to a matching degree of the respective reference images with an environment image acquired at the target location, and a matching degree of the respective reference images and the specific image.

Obtaining task information of the task breakpoint, where the task information includes track information before the task breakpoint and/or task completion degree before the task breakpoint;

Planning a target task based on the task information;

The mobile device is controlled to move from the task breakpoint to perform the target task.

An embodiment of the present invention further provides an unmanned aerial vehicle, including: a fuselage; a force system, configured to provide flight power; a processor, configured to acquire location information of a task breakpoint, where the location information of the task breakpoint includes: environmental image information of the task breakpoint; and an environment obtained according to the target location Determining, by the image information and the environment image information of the task breakpoint, a positional relationship between the target location and the task breakpoint, the distance between the target location and the task breakpoint being less than a preset distance; based on the location relationship Controlling the UAV from moving from the target location to the mission breakpoint.

For a specific implementation of the processor, reference may be made to the task execution method of the embodiment corresponding to FIG. 6 or FIG. 7 , and details are not described herein again. The unmanned aerial vehicle may be a four-rotor UAV, a six-rotor UAV, a multi-rotor UAV, and the like. The power system may include a motor, an ESC, a propeller, etc., wherein the motor is responsible for driving the aircraft propeller, and the ESC is responsible for controlling the speed of the motor of the aircraft.

An embodiment of the present invention further provides a task execution system, including: a first mobile device and a second mobile device capable of autonomously moving, and a ground station respectively communicating with the first mobile device and the second mobile device, The first mobile device and the second mobile device are both mounted with a photographing device;

The first mobile device is configured to set location information of the task breakpoint during the execution of the first task, and send the location information of the task breakpoint to the ground station, where the location information of the task breakpoint includes : environmental image information of the task breakpoint;

Further, the second mobile device is configured to move to the target location determined by the positioning information of the task breakpoint.

Further, the second mobile device is configured to acquire at least one of the reference image information based on the positioning information of the task breakpoint; determine according to the environment image information acquired at the target location and each reference image information. a positional relationship between the target position and the point of convergence.

Further, the second mobile device is configured to match the environment image acquired at the target location with the reference image included in each of the reference image information; and the location corresponding to the target image that is successfully matched Determining as the articulation location point; based on the target reference image corresponding to A relationship between the position and the target position determines a positional relationship between the target position and the engagement position point.

Further, the second moving device is configured to determine, when the matching degree of the environment image acquired by the target location and the specific image is greater than a preset value, the position corresponding to the specific image as the connecting position a point; determining a positional relationship between the target position and the engagement position point based on the environmental image information acquired at the target position and the specific image information.

Further, the second mobile device is configured to acquire task information of the second task indicated by the second mobile device in the location information of the task breakpoint, where the task information includes the second task Position information of the starting point; planning the second task based on the task information; controlling the second mobile device to move from the connecting position point to a starting position of the second task, and starting from the starting position Said the second task.

Further, the second mobile device is configured to move from the target position to the connection position point based on the positional relationship; perform the second task from the connection position point; wherein the first The task and the second task are two different task phases of the same task.

Further, the second moving device is configured to move from the target position to the connecting position point based on the positional relationship; move from the engaging position point to a starting position of the second task; from the starting point The location begins to execute the second task; wherein the first task and the second task are two different task phases of the same task.

Further, the second moving device is configured to move from the target position to the connecting position point based on the positional relationship; move from the engaging position point to a starting position of the second task; from the starting point The location begins to execute the second task; wherein the first task and the second task are two different tasks.

There is further provided, in an embodiment of the invention, a computer readable storage medium storing a computer program that, when executed by a processor, implements FIG. 6, FIG. 7, or FIG. 8 of the present invention The mobile device of the embodiment of the present invention shown in FIG. 9 can also be implemented in the manner of the video processing method described in the corresponding embodiment, and details are not described herein again.

The computer readable storage medium may be an internal storage unit of the apparatus described in any of the preceding embodiments, such as a hard disk or memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc. Enter In one step, the computer readable storage medium may also include both internal storage units of the apparatus and external storage devices. The computer readable storage medium is for storing the computer program and other programs and data required by the terminal. The computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

One of ordinary skill in the art can understand that all or part of the process of implementing the foregoing embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, the flow of an embodiment of the methods as described above may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

Claims

A task execution method is characterized in that, in a mobile device capable of autonomous movement, the mobile device is mounted with a photographing device, and the method includes:

Obtaining location information of the task breakpoint, where the location information of the task breakpoint includes: environment image information of the task breakpoint;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, and the distance between the target location and the task breakpoint is less than a pre-predetermined Set the distance

The mobile device is controlled to move from the target location to the task breakpoint based on the positional relationship.
The method according to claim 1, wherein the location information of the task breakpoint further comprises positioning information of the task breakpoint;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, and the method further includes:

Controlling the mobile device to move to the target location determined based on location information of the task breakpoint.
The method according to claim 1 or 2, wherein the mobile device is an unmanned aerial vehicle, and the acquiring location information of the task breakpoint includes:

Triggering the setting of the task breakpoint;

The step of setting the task breakpoint and the step of determining the positional relationship between the target position and the task breakpoint are located in the same flight, or are respectively located in different flights.
The method according to claim 2, wherein the controlling the mobile device to move to a target location determined based on the location information of the task breakpoint comprises:

Planning a moving route of the mobile device according to the task breakpoint;

The mobile device is controlled to move to a target location determined based on the location information of the task breakpoint according to the planned movement route.
The method according to claim 4, wherein the setting of the task breakpoint and the step of determining a positional relationship between the target position and the task breakpoint are located in the same flight;

The controlling the mobile device to move to the target location determined based on the location information of the task breakpoint according to the planned movement route includes:

Move back to the target position along the moved route.
The method according to claim 4, wherein the step of setting the task breakpoint and the step of determining the positional relationship between the target position and the task breakpoint are respectively located in different flights;

The controlling the mobile device to move to the target location determined based on the location information of the task breakpoint according to the planned movement route includes:

Determining, by the location information indicated by the location information of the task breakpoint, the target location;

Controlling movement of the mobile device to the target location.
The method according to claim 1, wherein the environmental image information of the task breakpoint comprises specific image information, and the specific image included in the specific image information is: a shooting location closest to the task breakpoint distance The environmental image taken;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, including:

Determining the target location based on the environmental image information acquired at the target location and the specific image information when a degree of matching between the environment image acquired at the target location and the specific image is greater than a preset value The positional relationship with the task breakpoint.
The method according to claim 7, wherein the environmental image information of the task breakpoint comprises reference image information, and the reference image included in the reference image information is an environment image taken before the task breakpoint, a distance between a shooting location of the reference image and the task breakpoint is less than the preset distance;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, including:

Acquiring at least one of the reference image information when a matching degree of the environment image acquired at the target location and the specific image is less than a preset value;

And determining a relationship between the target location and the task breakpoint based on the environment image information acquired at the target location and each reference image information.
The method according to claim 8, wherein the determining the relationship between the target location and the task breakpoint based on the environmental image information acquired at the target location and each reference image information comprises :

Sorting the respective reference images;

And sequentially matching the sorted each reference image with the environment image acquired at the target position according to an arrangement order of each reference image after sorting;

Determining the target location and the task based on a positional relationship of a location of the photographing location corresponding to the image matching success and a positional relationship of the target location, and according to a positional relationship between the location of the target reference image and the task breakpoint The relationship of breakpoints.
The method according to claim 9, wherein said sorting said respective reference images comprises:

And sorting the respective reference images according to a distance between a location of the shooting location corresponding to each of the reference images and the target location, and a matching degree of the respective reference images and the specific image;

Or sorting the respective reference images according to a matching degree of the respective reference images with an environment image acquired at the target location, and a matching degree of the respective reference images and the specific image.
The method according to any one of claims 1 to 10, wherein the controlling the mobile device to move from the target location to the task breakpoint based on the location relationship comprises:

Obtaining task information of the task breakpoint, where the task information includes track information before the task breakpoint and/or task completion degree before the task breakpoint;

Planning a target task based on the task information;

The mobile device is controlled to move from the task breakpoint to perform the target task.
A task execution method, characterized in that it is applied to a task execution system, the task execution system comprising: a first mobile device and a second mobile device capable of autonomous movement, wherein the first mobile device and the second mobile device are both linked Carrying a photographing device, the method comprising:

The first mobile device sets location information of the task breakpoint during the execution of the first task, and the location information of the task breakpoint includes: environment image information of the task breakpoint;

The second mobile device acquires location information of the task breakpoint;

Determining, by the second mobile device, the positional relationship between the target location and the connection location point according to the environmental image information acquired at the target location and the environmental image information of the task breakpoint; wherein the convergence location is based on Determined by the environmental image information of the task breakpoint;

The second mobile device moves from the target position to the engaged position point based on the positional relationship, and performs a second task based on the engaged position point.
The method of claim 12, wherein the system further comprises: a ground station in communication with the first mobile device and the second mobile device, respectively; the second mobile device acquires the task Point location information, including:

The first mobile device transmits location information of the task breakpoint to the ground station, so that the ground station sends location information of the task breakpoint to the second mobile device;

The second mobile device acquires location information of the task breakpoint sent by the ground station.
The method according to claim 12, wherein the location information of the task breakpoint further comprises: location information of the task breakpoint;

Before the second mobile device determines the positional relationship between the target location and the connection location point according to the environment image information acquired at the target location and the environment image information of the task breakpoint, the second mobile device includes:

The second mobile device moves to the target location determined based on the location information of the task breakpoint.
The method according to claim 12, wherein the environmental image information of the task breakpoint comprises reference image information, and the reference image included in the reference image information is a shot mounted on the first mobile device An environment image captured by the device during execution of the first task, The distance between the shooting location of the reference image and the task breakpoint is less than the preset distance;

And determining, by the second mobile device, the location relationship between the target location and the connection location point according to the environment image information acquired at the target location and the environment image information of the task breakpoint, including:

The second mobile device acquires at least one of the reference image information based on the location information of the task breakpoint;

The second mobile device determines a positional relationship between the target location and the connection location point according to the environmental image information acquired at the target location and each reference image information.
The method according to claim 15, wherein the second mobile device determines the location of the target location and the connection location point based on the environmental image information acquired at the target location and each reference image information. Relationships, including:

The second mobile device respectively matches an environment image acquired at the target location with a reference image included in each of the reference image information;

Determining, by the second mobile device, a location corresponding to the successfully matched target reference image as the connection location point;

The second mobile device determines a positional relationship between the target location and the connection location point based on a relationship between a location corresponding to the target reference image and the target location.
The method according to claim 12, wherein the environmental image information of the task breakpoint comprises specific image information, and the specific image included in the specific image information is: mounted on the first mobile device An environmental image captured by the photographing device at a shooting location that is closest to the task breakpoint;

And determining, by the second mobile device, the location relationship between the target location and the connection location point according to the environment image information acquired at the target location and the environment image information of the task breakpoint, including:

And determining, by the second mobile device, that the matching degree of the environment image acquired by the target location and the specific image is greater than a preset value, determining a location corresponding to the specific image as the connection location point;

The second mobile device determines a positional relationship between the target location and the connection location point based on the environmental image information acquired at the target location and the specific image information.
Method according to any of claims 12-17, characterized in that the task breakpoint The location information further includes: task information of the second task;

The second mobile device moves from the target position to the connection position point based on the positional relationship, and performs a second task based on the connection position point, including:

The second mobile device acquires task information of the second task indicated to the second mobile device in the location information of the task breakpoint, where the task information includes location information of a starting point of the second task;

The second mobile device plans the second task based on the task information;

The second mobile device controls the second mobile device to move from the docking position point to a starting position of the second task, and execute the second task from the starting position.
The method according to claim 18, wherein said second mobile device moves from said target position to said docking position point based on said positional relationship, and performs a second task based on said engaged position point, including :

The second mobile device moves from the target position to the engagement position point based on the positional relationship;

The second mobile device performs the second task from the point of convergence;

The first task and the second task are two different task phases of the same task.
The method according to claim 18, wherein said second mobile device moves from said target position to said docking position point based on said positional relationship, and performs a second task based on said engaged position point, further include:

The second mobile device moves from the target position to the engagement position point based on the positional relationship;

Moving the second mobile device from the connection position point to a starting position of the second task;

The second mobile device performs the second task from the starting position;

The first task and the second task are two different task phases of the same task.
The method according to claim 18, wherein said second mobile device moves from said target position to said docking position point based on said positional relationship, and performs a second task based on said engaged position point, further Includes:

The second mobile device moves from the target position to the engagement position point based on the positional relationship;

Moving the second mobile device from the connection position point to a starting position of the second task;

The second mobile device performs the second task from the starting position;

The first task and the second task are two different tasks.
A mobile device, characterized in that the mobile device is mounted with a photographing device, the device comprising a memory and a processor;

The memory is configured to store program instructions;

The processor calls a program instruction stored in the memory to perform the following steps:

Obtaining location information of the task breakpoint, where the location information of the task breakpoint includes: environment image information of the task breakpoint;

Determining a positional relationship between the target location and the task breakpoint according to the environment image information acquired at the target location and the environment image information of the task breakpoint, and the distance between the target location and the task breakpoint is less than a pre-predetermined Set the distance

The mobile device is controlled to move from the target location to the task breakpoint based on the positional relationship.
The device according to claim 22, wherein the processor is specifically configured to perform the following steps:

Controlling the mobile device to move to the target location determined based on location information of the task breakpoint.
The device according to claim 22 or 23, wherein the processor is specifically configured to perform the following steps:

Triggering the setting of the task breakpoint;

The step of setting the task breakpoint and the step of determining the positional relationship between the target position and the task breakpoint are located in the same flight, or are respectively located in different flights.
The apparatus according to claim 23, wherein said processor is specifically configured to perform The following steps are taken:

Planning a moving route of the mobile device according to the task breakpoint;

The mobile device is controlled to move to a target location determined based on the location information of the task breakpoint according to the planned movement route.
The device according to claim 25, wherein the processor is specifically configured to perform the following steps:

Move back to the target position along the moved route.
The device according to claim 25, wherein the processor is specifically configured to perform the following steps:

Determining, by the location information indicated by the location information of the task breakpoint, the target location;

Controlling movement of the mobile device to the target location.
The device according to claim 22, wherein the processor is specifically configured to perform the following steps:

Determining the target location based on the environmental image information acquired at the target location and the specific image information when a degree of matching between the environment image acquired at the target location and the specific image is greater than a preset value The positional relationship with the task breakpoint.
The device according to claim 28, wherein the processor is specifically configured to perform the following steps:

Acquiring at least one of the reference image information when a matching degree of the environment image acquired at the target location and the specific image is less than a preset value;

And determining a relationship between the target location and the task breakpoint based on the environment image information acquired at the target location and each reference image information.
The device according to claim 29, wherein the processor is specifically configured to perform the following steps:

Sorting the respective reference images;

And sequentially matching the sorted each reference image with the environment image acquired at the target position according to an arrangement order of each reference image after sorting;

Determining the target location and the task based on a positional relationship of a location of the photographing location corresponding to the image matching success and a positional relationship of the target location, and according to a positional relationship between the location of the target reference image and the task breakpoint The relationship of breakpoints.
The device according to claim 30, wherein the processor is specifically configured to perform the following steps:

And sorting the respective reference images according to a distance between a location of the shooting location corresponding to each of the reference images and the target location, and a matching degree of the respective reference images and the specific image;

Or sorting the respective reference images according to a matching degree of the respective reference images with an environment image acquired at the target location, and a matching degree of the respective reference images and the specific image.
The device according to any one of claims 22 to 31, wherein the processor is specifically configured to perform the following steps:

Obtaining task information of the task breakpoint, where the task information includes track information before the task breakpoint and/or task completion degree before the task breakpoint;

Planning a target task based on the task information;

The mobile device is controlled to move from the task breakpoint to perform the target task.
A device according to any of claims 22-31, wherein the mobile device is an unmanned aerial vehicle.
A task execution system, comprising: a first mobile device and a second mobile device capable of autonomous movement, and a ground station respectively communicating with the first mobile device and the second mobile device, the first The mobile device and the second mobile device are both mounted with a photographing device;

The first mobile device is configured to set location information of the task breakpoint during the execution of the first task, and send the location information of the task breakpoint to the ground station, where the location information of the task breakpoint includes : environmental image information of the task breakpoint;

The ground station is configured to send location information of the task breakpoint to the second mobile device;

The second mobile device is configured to acquire location information of the task breakpoint sent by the ground station; determine the target according to environment image information acquired at the target location and environment image information of the task breakpoint a positional relationship between the position and the position of the connection; wherein the position of the connection position is determined according to environmental image information of the task breakpoint; moving from the target position to the position of the connection position based on the positional relationship, and A second task is performed based on the articulated location point.
The system of claim 34 wherein:

The second mobile device is configured to move to the target location determined by the positioning information of the task breakpoint.
The system of claim 34 wherein:

The second mobile device is configured to acquire at least one of the reference image information based on the location information of the task breakpoint; determine the target according to the environment image information acquired at the target location and each reference image information The positional relationship between the position and the point of the joint position.
The system of claim 36 wherein:

The second mobile device is configured to match an environment image acquired at the target location with a reference image included in each of the reference image information, and determine a location corresponding to the successfully matched target reference image as a location Determining a position point; determining a positional relationship between the target position and the engagement position point based on a relationship between a position corresponding to the target reference image and the target position.
The system of claim 34 wherein:

The second mobile device, when the matching degree of the environment image acquired by the target location and the specific image is greater than a preset value, determining a location corresponding to the specific image as the connection location point; The environmental image information acquired at the target location and the specific image information are And determining a positional relationship between the target position and the connection position point.
A system according to any of claims 34-38, wherein

The second mobile device is configured to acquire task information of the second task indicated by the second mobile device in the location information of the task breakpoint, where the task information includes a location of a start point of the second task Information; planning the second task based on the task information; controlling the second mobile device to move from the connection position point to a starting position of the second task, and executing the second from the starting position task.
The system of claim 39, wherein

The second moving device is configured to move from the target position to the articulated position point based on the positional relationship; perform the second task from the articulated position point; wherein the first task and the first task The second task is two different task phases of the same task.
The system of claim 39, wherein

The second moving device is configured to move from the target position to the engaging position point based on the positional relationship; move from the engaging position point to a starting position of the second task; and execute from the starting point position The second task; wherein the first task and the second task are two different task phases of the same task.
The system of claim 39, wherein

The second moving device is configured to move from the target position to the engaging position point based on the positional relationship; move from the engaging position point to a starting position of the second task; and execute from the starting point position The second task; wherein the first task and the second task are two different tasks.
A system according to any of claims 34-42, wherein said first mobile device and said second mobile device are both unmanned aerial vehicles.
A computer readable storage medium storing a computer program The sequence is characterized in that the computer program is executed by a processor to implement the method of any one of claims 1 to 21.