WO2019104678A1 - Procédé de commande, terminal, plateforme de gestion, système et support de stockage - Google Patents

Procédé de commande, terminal, plateforme de gestion, système et support de stockage Download PDF

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Publication number
WO2019104678A1
WO2019104678A1 PCT/CN2017/114031 CN2017114031W WO2019104678A1 WO 2019104678 A1 WO2019104678 A1 WO 2019104678A1 CN 2017114031 W CN2017114031 W CN 2017114031W WO 2019104678 A1 WO2019104678 A1 WO 2019104678A1
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WIPO (PCT)
Prior art keywords
task
information
parcel
indicated
flight
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PCT/CN2017/114031
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English (en)
Chinese (zh)
Inventor
钟和立
刘清伟
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780017697.5A priority Critical patent/CN108885467B/zh
Priority to PCT/CN2017/114031 priority patent/WO2019104678A1/fr
Publication of WO2019104678A1 publication Critical patent/WO2019104678A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a control method, a terminal, a management platform, a system, and a storage medium.
  • the operation process of the drone is generally: the user (such as the person in charge or the boss) notifies the flying hand of the drone by telephone, mail, or text message after receiving the demand information of the demanding party, and the flying hand receives the notification. After that, go to the work area to control the drone to perform the work task through the control terminal.
  • this kind of operation process is not intelligent enough and the degree of information is low.
  • the embodiment of the invention provides a control method, a terminal, a management platform, a system and a storage medium to improve the intelligence degree and the degree of informationization of the operation process of the drone.
  • an embodiment of the present invention provides a control method, which is applied to a control terminal, where the method includes:
  • the drone flight is controlled according to the flight strategy to perform the task indicated by the mission demand information.
  • an embodiment of the present invention provides another control method, which is applied to a management platform, where the method includes:
  • an embodiment of the present invention provides a control terminal, including a memory and a processor
  • the memory is configured to store program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, performing the following steps:
  • the drone flight is controlled according to the flight strategy to perform the task indicated by the mission demand information.
  • an embodiment of the present invention provides a management platform, including a memory and a processor
  • the memory is configured to store program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, performing the following steps:
  • an embodiment of the present invention provides a control system, where the system includes: a control terminal and a management platform, where the control terminal establishes a communication connection with the management platform directly or indirectly;
  • the management platform is configured to detect a task requirement editing operation of the user, generate task requirement information according to the task requirement editing operation, and send the task requirement information to the control terminal;
  • the control terminal is configured to receive task requirement information sent by the management platform, acquire parcel information related to the task indicated by the task requirement information, plan a flight strategy according to the parcel information, and control no according to the flight policy.
  • the human aircraft flies to perform the tasks indicated by the mission demand information.
  • 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 the processor, implements the first aspect or the second aspect, Control Method.
  • the control terminal acquires the parcel information related to the task indicated by the task requirement information by receiving the task requirement information sent by the management platform, and plans a flight strategy according to the parcel information, and implements the The flight strategy controls the drone flight to perform the task indicated by the task demand information.
  • the intelligence degree and the informationization degree of the drone operation process are improved, and the drone is improved to complete the task requirement.
  • the efficiency of the tasks indicated by the information is improved.
  • FIG. 1 is a schematic flowchart of interaction of a control method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an interface for displaying parcel information according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an interface of a land plan according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an interface of a land display according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an interface for displaying progress information according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a control method according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart diagram of another control method according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of still another control method according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a management platform according to an embodiment of the present invention.
  • the control method provided by the embodiment of the present invention can be applied to a control system, where the control system includes a management platform and a control terminal, where the management platform is any terminal device that can interact with the user, and the actual application can be a desktop computer.
  • the control method can be applied to the operation tasks of the drone, such as agricultural plant protection tasks (such as spraying pesticides), aerial work tasks, and survey work tasks, and the following will be schematically illustrated by the agricultural plant protection task.
  • the control system provided by the embodiment of the present invention and the control method applied to the control system are exemplified below.
  • the control system includes a management platform and a control terminal, wherein the management platform is specifically explained as described above.
  • the management platform and the control terminal may directly establish a communication connection for communication; or the management platform communicates with the control terminal indirectly through a server to establish a communication connection.
  • a user (such as the person in charge or the boss of the management platform) can perform an editing operation on the interaction interface of the management platform. For example, the user can select the medicine according to the needs of the farmer in the management platform. The operation of filling in the medication demand information is performed.
  • the management platform generates task requirement information according to the editing operation of the user, and sends the generated task requirement information to the control terminal of the flying hand.
  • the control terminal may execute the task indicated by the task requirement information according to the task requirement information sent by the management platform.
  • the task requirement information includes one or more of task time information, task identifier, task name, geographic location of the task, task area, parcel information, progress information, and intra-task pages.
  • the task time information is used to indicate that the flying hand (the user controlling the drone) completes the task indicated by the task requirement information within the time range indicated by the task time information;
  • the task identifier is The number of the parcel related to the task indicated by the task requirement information;
  • the task name is a custom name input by the user on the management platform (such as "Laowangjia cornfield");
  • the geographic location of the task is based on the user The location of the location information obtained by the global positioning system (GPS) in the management platform;
  • the task area is a total area of a parcel indicated by the task requirement information;
  • the parcel information includes Parameter information of at least one parcel (such as farmland) of the task indicated by the task requirement information, wherein one parcel includes one or more tasks, and the parcel parameter information includes a row spacing, a height of the parcel
  • the task requirement information may be allocated and sent to one or more control terminals.
  • the control terminal may detect whether the task requirement information includes parcel information related to the task indicated by the task requirement information. If the parcel information is included in the detection result, the control terminal may directly acquire parcel information related to the task indicated by the task requirement information from the task requirement information.
  • the control terminal may plan a flight strategy according to the parcel information, where the flight strategy includes a flight path and a flight speed of the drone Degree, flight altitude, position information of the drone on the flight path, etc.
  • the control terminal may control the drone flight in accordance with the flight strategy to perform the task indicated by the mission demand information.
  • the control terminal may detect whether it is associated with a preset storage device. a connection, if the preset storage device is detected, the control terminal may detect whether the parcel information related to the task indicated by the task requirement information is stored in the preset storage device, and if the detection result is present, Then, the control terminal may acquire, from the preset storage device, parcel information related to the task indicated by the task requirement information. For example, if the control terminal detects connection with an SD card (preset storage device), the control terminal may detect whether a parcel related to the task indicated by the task requirement information is stored in the SD card. Information, if the detection result is yes, the control terminal may acquire the parcel information from the SD card.
  • an SD card preset storage device
  • the control terminal when the control terminal detects that the task requirement information does not include the parcel information related to the task indicated by the task requirement information, if the control terminal detects the The communication terminal is indirectly established by the server, and the control terminal can detect whether there is parcel information related to the task indicated by the task requirement information in the server, and if so, the control terminal can The parcel information related to the task indicated by the task requirement information is obtained in the server.
  • the control terminal communicates with the management platform indirectly through a server, and the server stores the task requirement information, if the control terminal detects that the acquired task requirement information is not included.
  • the control device may acquire the parcel information from the server.
  • the control terminal may acquire the request for the task by acquiring The location information of the control terminal in the planning process of the parcel corresponding to the task indicated by the information, and determining the parcel information related to the task indicated by the task requirement information according to the location information of the control terminal. For example, during the planning process of the parcel, the flying hand can hold the control terminal and walk along the boundary of the parcel required to perform the work task indicated by the task demand information, in which the control terminal records its own
  • the location information can be used to plan the location information, the task area, the edge location, and the like of the parcel by using the location information recorded in the planning process.
  • the control terminal may determine, according to the parcel information editing operation detected on the control terminal, parcel information related to the task indicated by the task requirement information, where the interaction interface is used to display the task requirement information The area map of the parcel corresponding to the indicated task. For example, if the control terminal detects a ping operation input by the user on the area map of the parcel on the interaction interface of the control terminal, the control terminal may acquire the puncturing operation according to the puncturing operation of the user. Corresponding points, and determining parcel information related to the task indicated by the task requirement information according to each point corresponding to the striking operation, specifically, determining the parcel information according to the location information corresponding to the respective points.
  • the area map displayed by the interactive interface is generated based on an environmental image of the parcel indicated by the task demand information.
  • the interactive interface may display the environment image, wherein location information corresponding to each point on the environment image is known.
  • the flying hand can control the mapping drone to fly over the area including the target parcel, and photograph the area to obtain the environmental image, and the mapping drone is equipped with positioning means, according to the positioning information output by the positioning device, mapping Information such as the flying height of the drone can be used to determine the position information corresponding to each point on the high-definition image.
  • the control terminal may acquire the environment image and superimpose the environment image on a digital map to acquire the area map.
  • the flying hand can perform the parcel information editing operation on the area map on which the environment image is superimposed, for example, the striking operation, acquire the point corresponding to the striking operation, and determine the information related to the task according to each point corresponding to the striking operation.
  • the parcel information related to the indicated task specifically, the parcel information is determined according to location information corresponding to each point.
  • control terminal may control the drone to fly within a time range indicated by the task time information according to the flight policy to perform a task indicated by the task requirement information.
  • control terminal may generate progress information about executing the task indicated by the task requirement information, and send the progress information to the management platform by direct communication. Or, the progress information is sent to the management platform through an indirect communication manner of the server.
  • the control system provided by the embodiment of the present invention needs to implement the interaction between the control terminal and the management platform in the system.
  • the following is an embodiment of the interaction method between the control terminal and the management platform, and corresponding to the control method for controlling the terminal and the management platform. Detailed description.
  • FIG. 1 is a schematic flowchart of interaction of a control method according to an embodiment of the present invention.
  • the interaction method can be applied to a control system, the specific explanation of which is as described above.
  • the method implementation of the embodiment of the present invention includes the following steps.
  • S101 The management platform detects a user's task requirement editing operation.
  • the user can perform an editing operation on the management platform according to the needs of the farmer, so the management platform can detect the task demand editing operation input by the user.
  • S102 The management platform generates an operation request information according to the task requirement editing operation.
  • the management platform may perform the editing operation according to the detected task requirement of the user, and generate task requirement information.
  • the task requirement information includes one or more of task time information, task identifier, task name, geographic location of the task, task area, parcel information, progress information, and an in-task page. The specific description of the task requirement information is as described above, and details are not described herein again.
  • S103 The management platform sends the task requirement information to the control terminal.
  • the management platform may send the generated task requirement information to the control terminal, where the task requirement information is used to instruct the control terminal to control the drone to perform the task requirement information.
  • the indicated task may be sent to the control terminal, where the task requirement information is used to instruct the control terminal to control the drone to perform the task requirement information. The indicated task.
  • S104 The control terminal receives the task requirement information sent by the management platform.
  • control terminal may receive task requirement information sent by the management platform, where the task requirement information is interpreted as described above.
  • S105 The control terminal acquires parcel information related to the task indicated by the task requirement information.
  • the control terminal may acquire parcel information related to the task indicated by the task requirement information.
  • the control terminal may detect whether the parcel information is included in the task requirement information, and if the parcel information is included in the detection result, the control terminal may The parcel information related to the task indicated by the task requirement information is directly obtained in the task requirement information.
  • the control terminal may plan a flight strategy according to the parcel information, where the flight strategy includes a flight path of the drone, a flight speed, a flight altitude, a position information of the drone on the flight track, and the like. Flight information.
  • the control terminal may detect whether it is associated with a preset storage device. Connecting, if a preset storage device is detected, the control terminal may detect whether the preset storage device stores a task related to the task indicated by the task requirement information The parcel information, if present, the control terminal may acquire parcel information related to the task indicated by the task requirement information from the preset storage device.
  • control terminal when the control terminal detects that the task requirement information does not include the parcel information related to the task indicated by the task requirement information, if the control terminal detects the The communication terminal is indirectly established by the server, and the control terminal can detect whether there is parcel information related to the task indicated by the task requirement information in the server, and if so, the control terminal can The parcel information related to the task indicated by the task requirement information is obtained in the server.
  • control terminal communicates with the management platform indirectly through a server, and the server stores the parcel information corresponding to the task requirement information or the parcel information that has been mapped, if the control terminal If it is detected that the acquired task requirement information does not include the parcel information, but the parcel information related to the task indicated by the task requirement information is stored in the server, the control device may The parcel information is obtained in the server.
  • FIG. 2 is a schematic diagram of an interface for displaying parcel information according to an embodiment of the present invention.
  • the interface 20 for displaying parcel information as shown in FIG. 2 includes: parcel information of No. 1 field 21, parcel information of No. 2 field 22, and parcel information of No. 3 field 23, wherein each parcel information may be
  • the respective parcel information obtained by the control terminal from the preset storage device, such as a Secure Digital (SD) card may also be the information of each parcel obtained by the control terminal from the server, where the
  • the parcel information includes any one or more kinds of information such as location information of the parcel, task identification, area information, and boundary information.
  • the user can click the operation button 211 as shown in FIG. 2, and the parcel information can be determined as the parcel information related to the task indicated by the task requirement information.
  • SD Secure Digital
  • the control terminal may acquire the request for the task by acquiring The location information of the control terminal in the planning process of the parcel corresponding to the task indicated by the information, and determining the parcel information related to the task indicated by the task requirement information according to the location information of the control terminal. For example, during the planning process of the parcel, the flying hand can hold the control terminal and walk along the boundary of the parcel required to perform the work task indicated by the task demand information, in which the control terminal records its own
  • the location information can be used to plan the location information, the task area, the edge location, and the like of the parcel by using the location information recorded in the planning process.
  • FIG. 3 is a schematic diagram of an interface plan for a land block according to an embodiment of the present invention. As shown in FIG.
  • the control terminal may acquire according to the puncturing operation of the user.
  • the first location point 31, the second location point 32, the third location point 33, and the fourth location point 34 corresponding to the ping operation, the control terminal may determine one and the foregoing according to each point corresponding to the puncturing operation.
  • the parcels 30 related to the tasks indicated by the task requirement information, and the parcel information of the parcels 30 may be acquired. Specifically, the parcel information is determined according to the location information corresponding to the respective points.
  • an environmental image captured by the mapping drone in the location area above the parcel is displayed on the area map.
  • the area map displayed by the interactive interface includes an environment image, wherein the location information corresponding to each point on the environment image is known.
  • the flying hand can control the mapping drone to fly over the area including the target parcel, and photograph the area to obtain the environmental image, and the mapping drone is equipped with positioning means, according to the positioning information output by the positioning device, mapping Information such as the flying height of the drone can be used to determine the position information corresponding to each point on the high-definition image.
  • the control terminal may acquire the environment image and superimpose the environment image on a digital map to acquire the area map.
  • the flying hand can perform the parcel information editing operation on the area map on which the environment image is superimposed, for example, the striking operation, acquire the point corresponding to the striking operation, and determine the information related to the task according to each point corresponding to the striking operation.
  • the parcel information related to the indicated task specifically, the parcel information is determined according to location information corresponding to each point.
  • the control terminal may display an environment image including the parcel corresponding to the parcel information on the interaction interface, and An identifier indicating the location information of the drone is displayed on the environment image.
  • FIG. 4 is a schematic diagram of an interface of a land display according to an embodiment of the present invention.
  • the control terminal may display, after acquiring the parcel information related to the task indicated by the task requirement information, in the location area of the parcel 41 on the interaction interface of the control terminal.
  • Land plot information office Corresponding to the environmental image of the parcel, the flight trajectory 411 is displayed on the environmental image and the logo 1 indicating the drone position information 412 is displayed.
  • S106 The control terminal plans a flight strategy according to the parcel information, and controls the drone flight according to the flight strategy to perform the task indicated by the task requirement information.
  • the control terminal may plan a flight strategy according to the parcel information, and control the drone flight according to the flight strategy to perform the task indicated by the task requirement information.
  • the flight strategy includes information such as a flight path, a flight altitude, a flight speed, and the like of the drone
  • the task requirement information includes task time information.
  • the control device may plan information such as a flight path, a flight altitude, a flight speed, and the like of the drone according to the parcel information, and control the drone to indicate the task time information according to the flight strategy. Flight within a time range to perform the tasks indicated by the mission demand information.
  • the control terminal generates progress information about executing the task indicated by the task requirement information.
  • the control terminal may generate progress information about executing the task indicated by the task requirement information during the process of controlling the drone flight according to the flight policy.
  • the control terminal may display task description information of the task indicated by the task requirement information including the progress information on the interaction interface.
  • the task description information includes: one of a task identifier, a task area, progress information, and a flight trajectory determined according to the flight strategy.
  • FIG. 5 is used as an example for description.
  • FIG. 5 is a schematic diagram of an interface for displaying progress information according to an embodiment of the present invention. As shown in FIG.
  • the display interface of the progress information of the task indicated by the task requirement information includes: progress information of the first task 51 of the first field, progress information of the second task 54 of the first field, and the first task of the second field
  • the progress information of 52, the progress information of the second task 53 of the second field, the progress information includes a task identifier, a task status, a task area, an operation button, and a flight trajectory.
  • the operation buttons as shown in the figure include the operation button 511 of the No. 1 field first task 51, the operation button 541 of the No. 1 field second task 54, the operation button 521 of the No. 2 field first task 52, and the No. 2 field second task 53. Operation button 531.
  • the control terminal may execute an operation instruction corresponding to each operation button. For example, when the control terminal detects the click operation of the operation button 511 of the No. 1 field second task 52, the control terminal may continue to perform the unfinished task of the No. 1 field second task 52.
  • the control terminal sends the progress information and/or the flight record of the drone to the management platform.
  • the control terminal may send the progress information to the management platform by using a direct communication manner; or send the progress information to the management platform by using an indirect communication manner of the server.
  • the control terminal may acquire a flight record of the drone and transmit the flight record to the management platform, the flight record including the drone performing the task request The information collected during the task indicated by the information; wherein the collected information includes: positioning information and/or image information captured by a photographing device mounted on the drone.
  • the management platform receives progress information and/or flight records related to the task indicated by the task requirement information returned by the control terminal.
  • the management platform may receive progress information and/or flight records related to the task indicated by the task requirement information returned by the control terminal, so that the management platform supervises the execution of the control terminal.
  • the task indicated by the task demand information may be received from the control terminal.
  • S110 The management platform displays progress information and/or flight records of the task.
  • the management platform may display the progress information and/or the flight record to the interaction interface of the management platform, so that the user can view the progress information of the task indicated by the task requirement information, or view the fly. Flight record of the hand.
  • the management platform performs the editing operation according to the detected task requirement of the user, generates the task requirement information, and sends the task requirement information to the control terminal, so that the control terminal acquires the task requirement information. Instructing the control-related parcel information to implement the flight control strategy according to the parcel information, and controlling the drone flight according to the flight strategy to perform the task indicated by the mission requirement information.
  • the intelligence and informationization degree of the drone operation process are improved, and the efficiency of the drone's execution task is improved.
  • FIG. 6 is a schematic flowchart diagram of a control method according to an embodiment of the present invention.
  • the method may be performed by a control terminal, where a specific explanation of the control terminal is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S601 Receive task requirement information sent by the management platform.
  • control terminal may receive task requirement information sent by the management platform, and the task requirement information is interpreted as described above.
  • S602 Acquire parcel information related to the task indicated by the task requirement information.
  • the control terminal may acquire parcel information related to the task indicated by the task requirement information.
  • the control terminal may detect the Whether the parcel information is included in the task requirement information, and if the parcel information is included in the detection result, the control terminal may directly acquire the location related to the task indicated by the task requirement information from the task requirement information.
  • Block information The control terminal may plan a flight strategy according to the parcel information, where the flight strategy includes a flight path of the drone, a flight speed, a flight altitude, a position information of the drone on the flight track, and the like. information.
  • the control terminal may detect whether it is associated with a preset storage device. a connection, if the preset storage device is detected, the control terminal may detect whether the parcel information related to the task indicated by the task requirement information is stored in the preset storage device, and if the detection result is present, Then, the control terminal may acquire, from the preset storage device, parcel information related to the task indicated by the task requirement information.
  • a preset storage device if the preset storage device is detected, the control terminal may detect whether the parcel information related to the task indicated by the task requirement information is stored in the preset storage device, and if the detection result is present, Then, the control terminal may acquire, from the preset storage device, parcel information related to the task indicated by the task requirement information.
  • the control terminal when the control terminal detects that the task requirement information does not include the parcel information related to the task indicated by the task requirement information, if the control terminal detects the The communication terminal is indirectly established by the server, and the control terminal can detect whether there is parcel information related to the task indicated by the task requirement information in the server, and if so, the control terminal can The parcel information related to the task indicated by the task requirement information is obtained in the server.
  • FIG. 2 is an example of the above description, and details are not described herein again.
  • the control terminal may acquire the request for the task by acquiring The location information of the control terminal in the planning process of the parcel corresponding to the task indicated by the information, and determining the parcel information related to the task indicated by the task requirement information according to the location information. For example, during the planning process of the parcel, the flying hand can hold the control terminal and walk along the boundary of the parcel required to perform the work task indicated by the task demand information, in which the control terminal records its own
  • the location information can be used to plan the location information, the task area, the edge location, and the like of the parcel by using the location information recorded in the planning process.
  • the control terminal may determine, according to the parcel information editing operation detected on the control terminal, The parcel information related to the task indicated by the task requirement information is used, wherein the interaction interface is used to display an area map of the parcel corresponding to the task indicated by the task requirement information.
  • FIG. 3 is described as an example, and details are not described herein again.
  • an environmental image captured by the mapping drone in the location area above the parcel is displayed on the area map.
  • the area map displayed by the interactive interface includes an environment image, wherein the location information corresponding to each point on the environment image is known.
  • the flying hand can control the mapping drone to fly over the area including the target parcel, and photograph the area to obtain the environmental image, and the mapping drone is equipped with positioning means, according to the positioning information output by the positioning device, mapping Information such as the flying height of the drone can be used to determine the position information corresponding to each point on the high-definition image.
  • the control terminal may acquire the environment image and superimpose the environment image on a digital map to acquire the area map.
  • the flying hand can perform the parcel information editing operation on the area map on which the environment image is superimposed, for example, the striking operation, acquire the point corresponding to the striking operation, and determine the information related to the task according to each point corresponding to the striking operation.
  • the parcel information related to the indicated task specifically, the parcel information is determined according to location information corresponding to each point.
  • the control terminal may display an environment image including the parcel corresponding to the parcel information on the interaction interface, and An identifier indicating the location information of the drone is displayed on the environment image.
  • FIG. 4 is an example of the above description, and details are not described herein again.
  • S603 Plan a flight strategy according to the parcel information, and control the drone flight according to the flight strategy to perform the task indicated by the task requirement information.
  • the control terminal may plan a flight strategy according to the parcel information, and control the drone flight according to the flight strategy to perform the task indicated by the task requirement information.
  • the flight strategy includes information such as a flight path, a flight altitude, a flight speed, and the like of the drone
  • the task requirement information includes task time information.
  • the control device may plan information such as a flight path, a flight altitude, a flight speed, and the like of the drone according to the parcel information, and control the flight of the drone to perform the mission demand information according to the flight strategy. Indicated task.
  • the control terminal detects a flight state control operation of the user, and controls the flight state of the drone based on the detected operation.
  • the user for example, the flying hand
  • the user can operate the interactive interface of the control terminal to adjust the flight state of the drone, wherein the flight state can include the flight speed and the fly.
  • the line height, the working state of the payload for example, the spray width of the nozzle, the shooting mode of the photographing device, etc.
  • the flight state of the drone can be adjusted according to the operation.
  • the interactive interface may display flight status information corresponding to the adjusted flight status.
  • the control terminal acquires the parcel information related to the task indicated by the task requirement information by receiving the task requirement information sent by the management platform, and plans a flight strategy according to the parcel information, and implements the The flight strategy controls the drone flight to perform the task indicated by the mission demand information, thereby improving the intelligence degree and the degree of informationization of the drone operation process, thereby improving the execution of the mission by the drone The efficiency of the task indicated by the demand information.
  • FIG. 7 is a schematic flowchart diagram of another control method according to an embodiment of the present invention.
  • the difference between the method in the embodiment of the present invention and the foregoing embodiment in FIG. 6 is that the embodiment can control no one.
  • the machine flies within the time range indicated by the task time information to execute the task indicated by the task demand information, and sends the generated progress information for executing the task to the management platform.
  • the method of the embodiment of the present invention includes the following steps.
  • S701 Receive task requirement information sent by the management platform.
  • control terminal may receive task requirement information sent by the management platform, and the task requirement information is interpreted as described above.
  • S702 Acquire parcel information related to the task indicated by the task requirement information.
  • the control terminal may acquire parcel information related to the task indicated by the task requirement information.
  • the control terminal may detect whether the parcel information is included in the task requirement information, and if the parcel information is included in the detection result, the control terminal may Obtaining parcel information related to the task indicated by the task requirement information in the received task requirement information.
  • the specific implementation of obtaining the parcel information related to the task indicated by the task requirement information is as described above, and details are not described herein again.
  • S703 Acquire task time information included in the task requirement information.
  • control terminal may acquire task time information included in the task requirement information.
  • S704 Control, according to the flight strategy, the UAV to fly within a time range indicated by the task time information to perform a task indicated by the task requirement information.
  • the control terminal may plan a flight strategy according to the parcel information, and press
  • the drone is controlled to fly within a time range indicated by the mission time information to perform a task indicated by the mission demand information.
  • the flight strategy includes information such as a flight path, a flight altitude, a flight speed, and the like of the drone
  • the task requirement information includes task time information.
  • the control device may plan information such as a flight path, a flight altitude, a flight speed, and the like of the drone according to the parcel information, and control the drone to indicate the task time information according to the flight strategy. Flight within a time range to perform the tasks indicated by the mission demand information.
  • S705 Generate progress information about executing the task indicated by the task requirement information in the process of controlling the drone flight according to the flight policy.
  • the control terminal may generate progress information about executing the task indicated by the task requirement information during the process of controlling the drone flight according to the flight policy.
  • task description information of the task indicated by the task requirement information is displayed on an interaction interface of the control terminal.
  • the task description information includes: one of a task identifier, a task area, progress information, and a flight trajectory determined according to the flight strategy. For example, the foregoing description is made by taking FIG. 5 as an example, and details are not described herein again.
  • S706 Send the progress information to the management platform.
  • the control terminal may send the progress information to the management platform by using a direct communication manner; or send the progress information to the management platform by using an indirect communication manner of the server.
  • the control terminal may acquire a flight record of the drone and transmit the flight record to the management platform, the flight record including the drone performing the task request The information collected during the task indicated by the information; wherein the collected information includes: positioning information and/or image information captured by a photographing device mounted on the drone.
  • the control terminal acquires the parcel information related to the task indicated by the task requirement information by receiving the task requirement information sent by the management platform, and plans a flight strategy according to the parcel information, and implements the The flight strategy controls the drone flight to perform the task indicated by the mission demand information, thereby improving the intelligence degree and the degree of informationization of the drone operation process, thereby improving the execution of the mission by the drone The efficiency of the task indicated by the demand information.
  • FIG. 8 is a schematic flowchart diagram of still another control method according to an embodiment of the present invention.
  • the method may be performed by a management platform, where the management platform is a terminal device that can interact with a user, and specifically, the present invention.
  • the method of the embodiment comprises the following steps.
  • the user can perform an editing operation on the management platform according to the needs of the farmer, so the management platform can detect the task demand editing operation input by the user.
  • the management platform may perform the editing operation according to the detected task requirement of the user, and generate task requirement information.
  • the task requirement information includes one or more of task time information, task identifier, task name, geographic location of the task, task area, parcel information, progress information, and an in-task page. The specific description of the task requirement information is as described above, and details are not described herein again.
  • the management platform may send the generated task requirement information to the control terminal, where the task requirement information is used to instruct the control terminal to control the drone to perform the task requirement information.
  • the indicated task may be sent to the control terminal, where the task requirement information is used to instruct the control terminal to control the drone to perform the task requirement information. The indicated task.
  • the management platform generates the task requirement information according to the task requirement editing operation when detecting the task requirement editing operation of the user, and sends the task requirement information to the control terminal to instruct the control terminal to control
  • the drone performs the tasks indicated by the task demand information, thereby improving the intelligence degree and information degree of the drone operation process.
  • FIG. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal includes: a memory 901, a processor 902, a data interface 903, and a user 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 PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • 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:
  • the drone flight is controlled according to the flight strategy to perform the task indicated by the mission demand information.
  • processor 902 is specifically configured to control the data interface 903 to receive task requirement information sent by the management platform.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the parcel information related to the task indicated by the task requirement information is acquired from a preset storage device.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the parcel information related to the task indicated by the task requirement information is obtained from the server.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the parcel information related to the task indicated by the task requirement information is determined according to the location information.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • parcel information related to the task indicated by the task requirement information is determined.
  • an environmental image captured by the mapping drone in the location area above the parcel is displayed on the area map.
  • processor 902 calls the program instructions stored in the memory 901 and is also used to execute The following steps:
  • An indicator indicating the position information of the drone is displayed on the environment image.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the drone is controlled to fly within a time range indicated by the mission time information to perform a task indicated by the mission demand information.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the task description information includes: one or more of a task identification, a task area, progress information, and a flight trajectory determined according to the flight strategy.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • the flight state of the drone is controlled according to the detected operation.
  • processor 902 calls the program instructions stored in the memory 901 and is further configured to perform the following steps:
  • Obtaining a flight record of the drone the flight record including information collected by the drone during execution of the task indicated by the task requirement information;
  • the collected information includes: positioning information and/or image information captured by a photographing device mounted on the drone.
  • the processor 902 is specifically configured to control the user interface 904 to receive or detect the foregoing part.
  • the user interface 904 can be one or more of a touch display screen, a keyboard, a button, a rocker, and a pulsator.
  • the control terminal acquires the parcel information related to the task indicated by the task requirement information by receiving the task requirement information sent by the management platform, and plans a flight strategy according to the parcel information, and implements the The flight strategy controls the drone flight to perform the task indicated by the mission demand information, thereby improving the intelligence degree and the degree of informationization of the drone operation process, thereby improving the execution of the mission by the drone The efficiency of the task indicated by the demand information.
  • FIG. 10 is a schematic structural diagram of a management platform according to an embodiment of the present invention.
  • the management platform includes: a memory 1001, a processor 1002, a data interface 1003, and a user interface 1004.
  • the memory 1001 may include a volatile memory; the memory 1001 may also include a non-volatile memory; the memory 1001 may further include a combination of the above types of memories.
  • the processor 1002 can be a central processing unit (CPU).
  • the processor 1002 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 PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 1001 is for storing program instructions.
  • the processor 1002 can call a program instruction stored in the memory 1001 for performing the following steps:
  • the generated task requirement information carries the task time information or the parcel information.
  • processor 1002 calls the program instructions stored in the memory 1001 to perform the following steps:
  • the progress information and/or flight record is displayed.
  • the processor 1002 is specifically configured to control the data interface 1003 to send the task requirement information to the control terminal.
  • the processor 1002 is specifically configured to control the user interface 1004 to receive or detect various operations of the user of the foregoing portion.
  • the user interface 1004 can be one or more of a touch display screen, a keyboard, a button, a rocker, and a pulsator.
  • the management platform generates the task requirement information according to the task requirement editing operation when detecting the task requirement editing operation of the user, and sends the task requirement information to the control terminal to instruct the control terminal to control
  • the drone performs the tasks indicated by the task demand information, thereby improving the intelligence degree and information degree of the drone operation process.
  • An embodiment of the present invention further provides a control system, including: a control terminal and a management platform, where the control terminal establishes a communication connection directly or indirectly with the management platform;
  • the management platform is configured to detect a task requirement editing operation of the user, generate task requirement information according to the task requirement editing operation, and send the task requirement information to the control terminal;
  • the control terminal is configured to receive task requirement information sent by the management platform, acquire parcel information related to the task indicated by the task requirement information, plan a flight strategy according to the parcel information, and control no according to the flight policy.
  • the human aircraft flies to perform the tasks indicated by the mission demand information.
  • control system For the specific implementation of the control system, reference may be made to the control method of the embodiment corresponding to FIG. 1, FIG. 6, FIG. 7, or FIG. 8 , and details are not described herein again.
  • the control method described in the embodiment corresponding to FIG. 8 can also implement the control terminal of the embodiment corresponding to the embodiment of FIG. 9 or the management platform of the corresponding embodiment of the present invention shown in FIG. 10, and details are not described herein again.
  • the computer readable storage medium may be an internal storage unit of the terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal.
  • the computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the terminal and an external storage device.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne, dans des modes de réalisation, un procédé de commande, un terminal, une plateforme de gestion, un système et un support de stockage. Le procédé consiste à : recevoir des informations d'exigence de tâche envoyées par une plateforme de gestion ; acquérir des informations de bloc de terrain relatives à une tâche indiquée par les informations d'exigence de tâche ; et planifier une stratégie de vol selon les informations de bloc de terrain, de façon à commander, selon la stratégie de vol, le vol d'un aéronef sans pilote, de façon à exécuter la tâche indiquée par les informations d'exigence de tâche. Selon les modes de réalisation de la présente invention, un terminal est commandé pour exécuter, selon les informations d'exigence de tâche reçues envoyées par la plateforme de gestion, une tâche indiquée par les informations d'exigence de tâche ; de cette manière, le degré d'intellectualisation et le degré d'informatisation d'un flux de travail d'un aéronef sans pilote sont améliorés, ce qui permet d'améliorer l'efficacité de l'aéronef sans pilote lors de l'exécution des tâches.
PCT/CN2017/114031 2017-11-30 2017-11-30 Procédé de commande, terminal, plateforme de gestion, système et support de stockage WO2019104678A1 (fr)

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PCT/CN2017/114031 WO2019104678A1 (fr) 2017-11-30 2017-11-30 Procédé de commande, terminal, plateforme de gestion, système et support de stockage

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