WO2020154996A1 - 无人机的负载的任务管理方法及设备 - Google Patents

无人机的负载的任务管理方法及设备 Download PDF

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Publication number
WO2020154996A1
WO2020154996A1 PCT/CN2019/074072 CN2019074072W WO2020154996A1 WO 2020154996 A1 WO2020154996 A1 WO 2020154996A1 CN 2019074072 W CN2019074072 W CN 2019074072W WO 2020154996 A1 WO2020154996 A1 WO 2020154996A1
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Prior art keywords
task
work
flight
action
drone
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PCT/CN2019/074072
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English (en)
French (fr)
Inventor
刘启明
陈超彬
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深圳市大疆创新科技有限公司
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Priority to CN201980004917.XA priority Critical patent/CN111213102A/zh
Priority to PCT/CN2019/074072 priority patent/WO2020154996A1/zh
Publication of WO2020154996A1 publication Critical patent/WO2020154996A1/zh

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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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to the field of communication technology, and in particular to a task management method and equipment for the load of an unmanned aerial vehicle.
  • the number of motion tasks that the UAV's load (pan, camera, sprayer, infrared device, etc.) needs to perform is very large.
  • the load of the drone may need to perform multiple motion tasks, such as the rotation of the platform. Aiming at the monitoring point, zooming and zooming imaging of the camera carried on the pan/tilt, camera focusing, and camera taking pictures, etc., which result in a large number of motion tasks that the load needs to perform in the entire inspection task.
  • the embodiment of the present invention provides a task management method and equipment for the load of the drone, so that the drone can meet the application scenario where the number of the load's action tasks is increasing.
  • an embodiment of the present invention provides a task management method of a drone load, which is applied to a task management device of the load, and is characterized in that the method includes:
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed.
  • the action task determines a work subtask to be executed from the multiple work subtasks, and update the work subtask to be executed to the none
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed. The action task.
  • an embodiment of the present invention provides a task management device, which is characterized in that it includes a memory and a processor:
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed.
  • the action task determines a work subtask to be executed from the multiple work subtasks, and update the work subtask to be executed to the none
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed. The action task.
  • an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the program instructions when processed When the device is executed, the processor executes the task management method for the load of the drone described in the first aspect.
  • the task management device splits the work task of the load into multiple work subtasks, and determines a work subtask to be executed from the multiple work subtasks during the flight of the drone on the flight route. Task, and update the work subtask to be executed to the storage device of the flight controller of the drone, so that the flight controller will reach the task position corresponding to the action task included in the work subtask to be executed To control the load to execute the action task.
  • the drone can meet the application scenarios where the number of load action tasks continues to increase, and at the same time, it is convenient for users to enter a larger number of load action tasks at one time without being affected by the storage capacity of the flight controller's storage device. Limit, improve the execution efficiency of load action tasks.
  • Figure 1 is a structural diagram of a task management system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a task management method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a task management device provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a task management method that can be applied to task management equipment.
  • the task management method is mainly used to split the workload of the workload into multiple work subtasks, and fly the drone on the flight route.
  • a work subtask to be executed is determined from multiple work subtasks, and the work subtask to be executed is updated to the storage device of the flight controller of the UAV, so that the flight controller is
  • the load is controlled to execute the action task.
  • the embodiment of the present invention splits the load’s work task into multiple work sub-tasks, so that the drone is flying on the flight route. , Update the work subtask to be executed to the storage device of the flight controller of the drone, so that when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed, The control load executes the action task.
  • the drone can meet the application scenarios where the number of load action tasks continues to increase, and at the same time, it is convenient for users to enter a larger number of load action tasks at one time without being affected by the storage capacity of the flight controller's storage device. Limit, improve the execution efficiency of load action tasks.
  • the task management equipment can be set on the drone or the ground control terminal that communicates with the drone.
  • the ground control terminal may include one or more of a ground station or a remote control device.
  • the remote control device may include one or more of terminal devices such as a remote control, a mobile phone, a computer, or an adjustment screen.
  • the drone can mount at least one load, such as a sensor, a pan/tilt, a positioning device, or a sprayer, and the sensor can include a camera or a radar.
  • the UAV can also be equipped with a flight controller, which is used to control the payload to perform action tasks.
  • the flight controller may be equipped with a storage device, and the storage device is used to store the work subtasks to be executed sent by the task management device.
  • the task management system may include an unmanned aerial vehicle 10 and a ground control terminal 20.
  • the ground control terminal 20 is connected, and the drone 10 is configured with at least one load.
  • the ground control terminal 20 and the drone 10 can be connected via wireless, Bluetooth, or the like.
  • the task management device may be provided in the ground control terminal 20, that is, the ground control terminal 20 includes the task management device.
  • the task management device can generate the flight path of the UAV 10 and obtain the workload corresponding to the flight path.
  • the task management equipment divides the work task into multiple work subtasks.
  • the task management equipment determines a work subtask to be executed from the multiple work subtasks, and the task management The device updates the work sub-tasks to be executed into the storage device of the flight controller of the drone 10, so that the flight controller will reach the task location point corresponding to the action tasks included in the work sub-tasks to be executed when the drone 10 , Control the load to perform action tasks.
  • the task management device may generate the flight route of the drone 10 in the following multiple ways:
  • the user edits historical tasks on the user interface of the task management device, and when the task management device detects the user's editing operation, it obtains the editing information input by the user.
  • the task management device generates the flight route of the UAV 10 based on historical tasks and edited information in accordance with a preset rule protocol.
  • the historical task may be obtained by the task management device from the local memory of the ground control terminal 20, or obtained by the task management device from the drone 10, or downloaded by the task management device via the Internet.
  • the user configures the flight route of the UAV 10 on the user interface of the task management device, such as configuring the content of each action task.
  • the content of the action task may include the load identification, action task description, and action for executing the action task. Task identification, etc.
  • the task management device detects the configuration operation of the user, it acquires the content of each action task input by the user, and generates the flight route of the UAV 10 based on the content of each action task according to a preset rule protocol.
  • the task management device can obtain the pre-generated surveying and mapping results, and generate the flight route of the UAV 10 based on the surveying and mapping results.
  • the task management device may be provided in the drone 10, that is, the drone 10 includes the task management device.
  • the task management device can obtain the flight route of the drone 10, and obtain the work tasks of the load corresponding to the flight route.
  • the task management device divides the work task into multiple work subtasks, and the drone 10 is flying on the flight route.
  • the task management equipment determines a work subtask to be executed from multiple work subtasks, and the task management equipment updates the work subtask to be executed into the storage device of the flight controller of the UAV 10 to make the flight
  • the controller controls the load to execute the action task when the drone 10 reaches the task location point corresponding to the action task included in the work subtask to be executed.
  • the flight route of the drone 10 may be obtained from the ground control terminal 20.
  • the ground control terminal 20 detects the upload operation of the user and sends the flight route to the unmanned aircraft. ⁇ 10 ⁇ Machine 10.
  • the flight route may also be obtained from other drones, or downloaded via the Internet, which is not specifically limited by the embodiments of this application.
  • the flight controller can obtain the flight route of the drone 10 and obtain the work tasks of the load corresponding to the flight route.
  • the human-machine 10 reaches the task location point corresponding to the action task included in the work subtask to be executed, the load is controlled to execute the action task.
  • the user can incrementally modify the flight route or the task corresponding to the flight route through the ground control terminal 20. If the modified content is part of the flight route or work task, the ground control terminal can only send the modified content to the UAV, and the UAV updates the flight route or work task based on the modified content.
  • the embodiment of the application can save the link bandwidth between the ground control terminal 20 and the UAV 10 through incremental transmission.
  • incremental modification can be to add part of the flight route or work task, or delete part of the flight route or work task, or modify part of the flight route or work task.
  • the task management method may be used in the task management system shown in FIG. 1, and the task management method may be executed by a task management device.
  • the management method may include the following steps:
  • Step 201 The task management device obtains the flight route of the drone, and the flight route includes multiple mission location points.
  • the task management device can receive the flight route of the drone sent by the ground control terminal, or obtain the flight route from other drones, or download the flight route through the Internet . If the task management device is set in the ground control terminal, the task management device can receive the flight route submitted by the user, or obtain the flight route from the drone, or download the flight route through the Internet.
  • the mission location point may be determined according to the waypoint in the flight route. For example, a position located after each waypoint in the flight route and separated from the waypoint by a preset distance threshold is used as the mission location point. For another example, take the Nth waypoint in the flight route as the mission location point, and N is an even number. For another example, a position located after each waypoint in the flight route and whose flight speed is the first preset speed threshold is used as the mission position point.
  • the mission location point may be a waypoint in the flight route. That is, each waypoint in the flight route is used as the mission location point. For example, if the flight route includes 100 waypoints, the flight route includes 100 mission position points, and the position of the mission position point in the flight route is the same as the position of the waypoint in the flight route.
  • the task management device can determine that the drone has reached the mission location point, where the flight status parameters can include the drone's flight speed, One or more of the flight acceleration of the man-machine, the attitude of the drone, and the attitude of the payload of the drone.
  • the flight status parameter is the flight speed of the drone.
  • the task management device can determine the flight of the drone The speed meets the conditions of the preset flight state, and then the UAV arrives at the mission location point.
  • the flight state parameter is the flight acceleration of the drone.
  • the task management device can determine that the acceleration of the drone meets the preset flight state conditions, and then determine the drone Reach the mission location point.
  • the flight status parameter is the attitude of the drone.
  • the task management device can determine that the attitude of the drone meets the preset flight status conditions, and then determine the drone Reach the mission location point.
  • the flight status parameter is the attitude of the drone's payload.
  • the task management device can determine that the attitude of the drone's payload meets the preset flight status conditions. , And then determine the UAV to reach the mission location point.
  • the task management device is set in the ground control terminal, for example, after the drone obtains the flight status parameters of the drone, the drone sends the flight status parameters to the task management device, and the task management device determines whether the flight status parameters meet the preset Flight status conditions.
  • the ground control terminal can determine that the drone reaches the mission location point.
  • the attitude of the drone may be one or more of a yaw angle (Yaw), a pitch angle (Pitch), or a roll angle (Roll) of the drone.
  • the attitude of the payload of the drone may be one or more of the yaw angle, pitch angle, or roll angle of the payload.
  • the flight status parameters may also include the current position of the drone.
  • the task management device can determine that the current position of the drone meets the preset flight status conditions , And then determine the UAV to reach the mission location point.
  • the flight status parameter may also include the current system time. If the current system time is the preset time, the task management device can determine that the preset flight status condition is satisfied, and then determine that the drone arrives at the mission location point.
  • Step 202 The task management device acquires the work task of the load corresponding to the flight route, and the work task includes an action task corresponding to each of the multiple task position points.
  • the task management device can receive the load task corresponding to the flight route sent by the ground control terminal, or obtain the load corresponding to the flight route from other drones. Work tasks, or download work tasks corresponding to the flight route through the Internet. If the task management device is set in the ground control terminal, the task management device can receive the load task corresponding to the flight route submitted by the user, or obtain the load task corresponding to the flight route from the drone, or download it through the Internet The task of the load corresponding to the flight path.
  • the task management device may perform a legality check on the work task to obtain the first detection result. Specifically, the task management device may detect whether there is a conflict between the work tasks of the load corresponding to the flight route, and if there is a conflict, the first detection result is a failure. If the task management device is set in the drone, the task management device may send the first detection result to the ground control terminal, and the ground control terminal may display the first detection result. If the task management device is set in the ground control terminal, the task management device can display the first detection result.
  • the ground control terminal can receive the updated information about the work tasks of the above load submitted by the user in response to the first detection result, and the ground control terminal sends the updated information to the drone so that the drone can update the information based on the updated information.
  • Update the work tasks of the above load For example, the work task of the first camera is: taking pictures while recording. Since the same camera cannot take pictures and videos at the same time period, the task management device may determine that the work tasks of the first camera conflict and generate the first detection result.
  • the first detection result may include a field for indicating detection success or detection failure. If the detection fails, the first detection result may also include the cause of the failure and the work task of the load that caused the detection failure.
  • the work task of the load corresponding to the flight route is sent by the ground control terminal to the task management device, and the ground control terminal can perform a legality check on the work task.
  • Get the second test result For example, the ground control terminal can perform interaction detection between the user and the ground control terminal.
  • the work task of the load configured by the user is: the first camera takes 3.5 photos. Since the number of images taken by the camera is a positive integer, and the number of images with a non-positive integer cannot be obtained, the second detection result is a detection failure .
  • the ground control terminal can perform interaction detection between the ground control terminal and the task management device.
  • the action task of the load corresponding to the flight route is: the sprinkler sprays pesticides at the first task position, but the task management device recognizes that the drone does not mount the sprinkler, the task management device will be used to indicate no
  • the message that the man-machine does not mount the sprinkler is sent to the ground control terminal, and the ground control terminal can determine that the second detection result is a detection failure.
  • the ground control terminal may display the second detection result, and receive updated information about the work task of the load submitted by the user in response to the second detection result.
  • the ground control terminal updates the work task based on the update information and updates the updated information.
  • the job task is sent to the drone.
  • the second detection result may include a field for indicating detection success or detection failure. If the detection fails, the second detection result may also include the cause of the failure and the work task of the load that caused the detection failure.
  • Step 203 The task management device splits the work task into multiple work subtasks, where each of the multiple work subtasks includes one or more action tasks.
  • the task management device may split the work task into multiple work subtasks, so that the number of task location points corresponding to the action tasks included in each work subtask in the multiple work subtasks is less than or equal to the first A preset number threshold.
  • the number of task location points corresponding to the action task included in the last work subtask is less than or equal to the first preset number threshold, and the other work subtasks except the last work subtask include motion tasks among multiple work subtasks.
  • the number of corresponding task location points is equal to the first preset number threshold.
  • the flight route includes 100 task location points
  • the first preset number threshold is 30, then the task management device may split the load task corresponding to the flight route into 4 work subtasks, the first task The task location points corresponding to the action tasks included in the subtask are the first to thirtieth task location points, and the task location points corresponding to the action tasks included in the second work subtask are the thirty-first to sixtieth task location points ,
  • the task location points corresponding to the action tasks included in the third work subtask are the sixty-first to ninetieth task location points, and the task location points corresponding to the action tasks included in the fourth work subtask are the ninety-first to the first One hundred mission location points.
  • the number of task location points corresponding to the action tasks included in each work subtask is different.
  • the flight route includes 100 task location points
  • the first preset number threshold is 30, then the task management device may split the load task corresponding to the flight route into 4 work subtasks, the first task The task location points corresponding to the action tasks included in the subtasks are the first to thirtieth task location points, and the task location points corresponding to the action tasks included in the second work subtask are the 31st to 59th task locations.
  • the task location points corresponding to the action tasks included in the third work subtask are the sixtieth to eighty-seventh task location points, and the task location points corresponding to the motion tasks included in the fourth work subtask are eighty-eighth to The one hundredth mission location point.
  • the number of task location points corresponding to the action tasks included in the multiple work subtasks is partially the same.
  • the flight route includes 100 task location points
  • the first preset number threshold is 30, then the task management device may split the load task corresponding to the flight route into 4 work subtasks, the first task The task location points corresponding to the action tasks included in the subtask are the first to thirtieth task location points, and the task location points corresponding to the action tasks included in the second work subtask are the thirty-first to sixtieth task location points ,
  • the task location points corresponding to the action tasks included in the third work subtask are the sixty-first to ninetieth task location points, and the task location points corresponding to the action tasks included in the fourth work subtask are the ninety-first to the first One hundred mission location points.
  • the task management device can group the action tasks included in the work task according to the execution time information corresponding to the action task to obtain multiple action task groups.
  • Each action task group in the work task group is determined as a work subtask.
  • the task management device may divide the action task whose execution time is the first time interval into the first action task group, divide the action task whose execution time is the second time interval into the second action task group, and divide the execution time into the third action task group.
  • the action tasks in the time interval are divided into the third action task group, where the action tasks contained in the first action task group constitute the first work subtask, the action tasks contained in the second action task group constitute the second work subtask, and the third The action tasks included in the action task group constitute the third work subtask.
  • the execution time of the flight route is from 7:00 to 10:00
  • the task management device may divide the action task whose execution time is [7:00, 8:00] into the first action task group, and the execution time is The action tasks of (8:00, 9:00) are divided into the second action task group, and the action tasks of the execution time (9:00, 10:00] are divided into the third action task group.
  • the task management device may divide the action tasks included in the work task into multiple action task groups according to a preset time interval.
  • a preset time interval is 60 minutes (min)
  • the difference between the execution time of the action tasks included in each action task group is less than or Equal to the preset time interval
  • the task management device can divide the action task whose execution time is [7:00, 8:00] into the first action task group, and divide the action whose execution time is (8:00, 9:00])
  • the tasks are divided into the second action task group, and the action tasks whose execution time is (9:00, 10:00) are divided into the third action task group.
  • the difference between the execution time information corresponding to each action task included in each work subtask is less than the preset duration threshold.
  • the preset time interval is 50 minutes (min)
  • the difference between the execution time of the action tasks included in each action task group is less than the expected value.
  • the task management device can divide the action task whose execution time is [7:00, 7:50] into the first action task group, and divide the action task whose execution time is (7:50, 8:0]
  • the action task with execution time (8:40, 9:30) is divided into the third action task group, and the action task with execution time (9:30, 10:00] is divided into the first Four action task group.
  • the task management device may group the action tasks included in the work task according to the execution distance information corresponding to the action task to obtain multiple action task groups, and determine each action task group in the multiple work task groups as A job subtask.
  • the task management device may divide the action task whose execution distance is the first distance interval into the first movement task group, divide the movement task whose execution distance is the second distance interval into the second movement task group, and divide the execution distance into the third movement task group.
  • the action tasks in the distance interval are divided into the third action task group, where the action tasks included in the first action task group constitute the first work subtask, the action tasks included in the second action task group constitute the second work subtask, and the third The action tasks included in the action task group constitute the third work subtask.
  • the execution distance of the flight route is 6 kilometers (km)
  • the task management device may divide the action task with the execution distance of [0, 2km] into the first action task group, and the execution distance is (2km, 4km)
  • the action task of is divided into the second action task group, and the action task with an execution distance of (4km, 6km] is divided into the third action task group.
  • the task management device may divide the action tasks included in the work task into multiple action task groups according to preset distance intervals.
  • the execution distance of the flight route is 6km
  • the preset time interval is 2km
  • the difference between the execution distance information of the action tasks included in each action task group is less than or equal to the preset distance interval
  • the task management The device can divide the action task with an execution distance of [0, 2km] into the first action task group, and divide the action task with an execution distance of (2km, 4km] into the second action task group, and the execution distance is (4km, 6km) ] Is divided into the third action task group.
  • the difference between the execution distance information corresponding to each action task included in each work subtask is less than the preset distance threshold.
  • the task management device may The action task with an execution distance of [0, 4km] is divided into the first action task group, and the action task with an execution distance of (4km, 6km] is divided into the second action task group.
  • the associated action tasks are located in the same work subtask.
  • the first action task is: the pan/tilt rotates 90°
  • the second action task is: the first camera takes a picture.
  • the end of the first action task will trigger the execution of the second action task, then the first action task is associated with the second ,
  • the task management device can divide the first action task and the second action task into the same work subtask.
  • each of the multiple work subtasks includes The number of task location points corresponding to the action task is less than or equal to the first preset number threshold, and the associated action tasks are located in the same work subtask.
  • the number of task location points corresponding to the action tasks included in each of the multiple work subtasks is less than or equal to the first preset number threshold, and the execution distance corresponding to each action task included in each work subtask The difference between the information is less than the preset distance threshold.
  • the task management device may split the work task into multiple work subtasks.
  • the task management device can determine whether the preset split condition is met. When the preset split condition is met, the task management device can split the work task into multiple tasks. Work subtasks.
  • the task management device determines that the preset resolution is satisfied. Divide the conditions, and then split the work task into multiple work subtasks.
  • the second preset number threshold is 100
  • the flight route includes 200 mission location points.
  • the mission management device may determine that the number of multiple mission location points is greater than the second preset number threshold, and then determine that the preset split condition is satisfied. Split the work task into multiple work subtasks.
  • the preset data volume threshold is 100Mb
  • the data volume of the work task of the load corresponding to the flight route is 200Mb.
  • the task management device can determine that the data volume of the work task is greater than the preset data volume threshold, and then determine that the preset data volume is satisfied. According to conditions, the work task is divided into multiple work subtasks.
  • Step 204 During the flight of the drone on the flight route, the task management device determines a work subtask to be executed from the multiple work subtasks, and updates the work subtask to be executed to the flight of the drone
  • the flight controller controls the load to execute the action task when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed.
  • the task management device can determine whether the preset update condition is met, and when the preset update condition is met, determine one of the multiple work subtasks Work subtasks to be executed, and update the work subtasks to be executed to the storage device of the flight controller of the UAV.
  • work subtasks include a first work subtask, a second work subtask, and a third work subtask, where the execution time of the first work subtask is greater than the execution time of the second work subtask, and the execution of the second work subtask The time is greater than the execution time of the third work subtask.
  • the task management device may determine the second work subtask as The work subtask to be executed, and the second work subtask is updated to the storage device of the flight controller of the UAV.
  • the task management device may obtain the available storage space indication information of the storage device in the flight controller or the execution status information of the previously updated work subtask by the flight controller, and according to the available storage space indication information or execution status information, Determine whether the preset update conditions are met.
  • the previously updated work subtask may be the most recently updated work subtask or a work subtask that has been updated among multiple work subtasks.
  • the available storage space indication information is used to indicate the available storage space of the storage device.
  • the execution status information is used to indicate that the work subtask has not been executed, is being executed, or has been executed.
  • the task management device when it is determined according to the storage space indication information that the available storage space of the storage device is greater than or equal to the data amount of the work subtask to be executed, or when it is determined according to the execution status information that the previously updated work subtask has been completed During execution, the task management device can determine that the preset update conditions are met. For example, if the data volume of the work subtask to be executed is 70Mb, the storage space indication information determines that the available storage space of the storage device is 100Mb, and the available storage space of the storage device is greater than the data volume of the work subtask to be executed, the task management device may Make sure to meet the preset update conditions. For another example, if the task management device determines that all action tasks in the most recently updated work subtask have been executed according to the execution status information, the task management device can determine that the preset update condition is satisfied.
  • the task management device when receiving the available storage space indication information of the storage device in the flight controller or the execution status information of the previously updated work subtask by the flight controller, the task management device may determine that the preset update condition is satisfied. For example, the work task is split to obtain multiple work subtasks, and the data amount of each work subtask is less than the preset data amount threshold.
  • the flight controller sends the available storage space indication information to the mission management device, and the mission management device can determine the availability of the storage device after receiving the available storage space indication information.
  • the storage space is greater than or equal to the preset data volume threshold, that is, the storage device has enough storage space to store the work subtasks, and the task management device can determine that the preset update conditions are met.
  • the flight controller can send the previously updated execution status information of the work subtask to the task management device, and the task management device can determine the previously updated execution status information after receiving the execution status information After the work subtask has been executed, the task management device can determine that the preset update condition is satisfied.
  • the previously updated work subtask may be the most recently updated work subtask or a work subtask that has been updated among multiple work subtasks.
  • the available storage space indication information is used to indicate the available storage space of the storage device.
  • the execution status information is used to indicate that the work subtask has not been executed, is being executed, or has been executed.
  • the task management device can determine whether the flight time of the drone on the flight route reaches the time period node or whether the flight distance of the drone on the flight route reaches the distance period node, and when it reaches the time period node or distance In the period node, the task management device can determine that the preset update condition is satisfied.
  • the time period node may be 30 minutes, and the flight time of the drone on the flight route is every 30 minutes, and the task management device may determine that the preset update condition is satisfied. For example, if the execution time of the flight route is 7:00-9:00, then at 7:30, 8:00, and 8:30, the task management device can determine that the preset update condition is met.
  • the distance period node can be 1km, and the flight distance of the UAV on the flight route is 1km apart, and the task management device can determine that the preset update condition is satisfied. For example, if the flight distance of the flight route is 4km, when the flight distance of the UAV on the flight route reaches 1km, 2km, and 3km, the task management device can determine that the preset update conditions are met.
  • the task management device may send deletion request information to the flight controller, where the deletion request information is used to request the flight controller to delete the completed execution action task stored in the storage device or not execute it within a preset time.
  • the action task The embodiment of the present application deletes the action tasks that have already been executed or the action tasks that are not executed within a preset time stored in the storage device, so that the storage device has enough storage space to store the work subtasks to be executed, which can reduce task execution. Time delay.
  • the flight controller can perform legitimacy checks on each action task included in the work subtasks to be executed , Get the third test result. Specifically, the flight controller may detect whether each action task included in the work subtask to be executed has a conflict. If there is a conflict, the third detection result is a failure, and the flight controller may send the third detection result to the ground control terminal.
  • the ground control terminal can display the third detection result, and receive the updated information about the action task of the load submitted by the user in response to the third detection result, and the ground control terminal sends the updated information to the flight controller so that the flight controller can based on the updated information Update the above tasks to be performed.
  • the action task is: the gimbal rotates 728°. Since the maximum angle that the gimbal can rotate is 360°, the flight controller can determine that there is a conflict in the action task, generate a third detection result, and send the third detection result to the ground control end.
  • the third detection result may include a field for indicating detection success or detection failure. If the detection fails, the third detection result may also include the reason for the failure and the action task that caused the detection failure.
  • the task management device before the task management device updates the work subtask to be executed to the storage device of the flight controller of the drone, it can determine whether the available storage space of the storage device is greater than or equal to the data of the work subtask to be executed.
  • the task management equipment can send prompt information to the ground control terminal.
  • the prompt information is used to prompt that the available storage space of the storage device is less than the work subtask to be performed. The amount of task data so that the user can update the task through the ground control terminal.
  • the storage device can only store 50 action tasks at the same time, and the work subtasks to be executed include 51 action tasks, the task management device can determine that the available storage space of the storage device is less than the data volume of the work subtasks to be executed , And then generate prompt information.
  • the task management device splits the work task into multiple work subtasks, and determines a work subtask to be executed from the multiple work subtasks during the flight of the drone on the flight route. And update the work subtasks to be executed into the storage device of the flight controller of the drone, so that the flight controller can control when the drone reaches the task position corresponding to the action tasks included in the work subtasks to be executed
  • the load executes the action task.
  • the drone can meet the application scenarios where the number of load action tasks continues to increase, and at the same time, it is convenient for users to enter a larger number of load action tasks at one time without being affected by the storage capacity of the flight controller's storage device. Limit, improve the execution efficiency of load action tasks.
  • the task management device as described in FIG. 3 may include: a memory 301 and a processor 302, wherein the memory 301 and the processor 302 are connected through a bus 303, and the memory 301 Program code is stored in the memory, and the processor 302 calls the program code in the memory.
  • the memory 301 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 301 may also include non-volatile memory (non-volatile memory), such as flash memory (flash memory), solid-state drive (SSD), etc.; the memory 301 may also include a combination of the foregoing types of memories.
  • volatile memory volatile memory
  • non-volatile memory non-volatile memory
  • flash memory flash memory
  • SSD solid-state drive
  • the processor 302 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 302 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
  • the PLD may be a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL), etc.
  • the processor 302 may also be a combination of the foregoing structures.
  • the memory 301 is used to store a computer program, and the computer program includes program instructions, and the processor 302 is used to execute the program instructions stored in the memory 301 to implement the above-mentioned embodiment shown in FIG. 3
  • the processor 302 When the program code is executed, the processor 302 performs the following operations:
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed.
  • the action task determines a work subtask to be executed from the multiple work subtasks, and update the work subtask to be executed to the none
  • the flight controller controls the load to execute all the tasks when the drone reaches the task location point corresponding to the action task included in the work subtask to be executed. The action task.
  • the processor 302 performs the following operations when splitting the work task into multiple work subtasks:
  • the work task is split into multiple work subtasks, so that the number of task location points corresponding to the action task included in each work subtask of the multiple work subtasks is less than or equal to the first preset number threshold.
  • each of the action tasks corresponds to one piece of execution time information
  • the processor 302 performs the following operations when splitting the work task into multiple work subtasks:
  • the difference between the execution time information corresponding to each action task included in each of the work subtasks is less than a preset duration threshold.
  • processor 302 further performs the following operations:
  • processor 302 determines whether a preset update condition is met, the following operations are performed:
  • the available storage space indication information or the execution status information it is determined whether the preset update condition is satisfied.
  • processor 302 determines whether the preset update condition is satisfied according to the available storage space indication information or the execution status information, the following operations are performed:
  • processor 302 when the processor 302 splits the work task into multiple work subtasks, it performs the following operations:
  • the work task is split into multiple work subtasks.
  • processor 302 when the processor 302 splits the work task into multiple work subtasks when a preset split condition is satisfied, the following operations are performed:
  • processor 302 further performs the following operations:
  • deletion request information is used to request the flight controller to delete an action task that has been completed executed or an action that is not executed within a preset time stored in the storage device task.
  • the mission location point is determined according to the waypoint in the flight route.
  • the mission location point is a waypoint in the flight route.
  • processor 302 further performs the following operations:
  • the flight status parameter includes one of the flight speed of the drone, the flight acceleration of the drone, the attitude of the drone, and the attitude of the payload of the drone. Kind or more.
  • processor 302 further performs the following operations:
  • the second flight state parameter of the drone satisfies a second preset flight state condition, it is determined that the drone has reached the mission location point, wherein the second flight state parameter is different from the flight state parameter.
  • the task management device is provided on the drone or a ground control terminal communicatively connected with the drone.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种无人机的负载的任务管理方法及设备，其中一种无人机的负载的任务管理方法可包括：获取无人机的飞行航线(201)；获取与飞行航线对应的负载的工作任务(202)；将工作任务拆分成多个工作子任务(203)；在无人机在飞行航线上飞行的过程中，从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行动作任务(204)。采用上述方法使无人机能够满足负载的动作任务数量不断增长的应用场景。

Description

无人机的负载的任务管理方法及设备 技术领域
本发明涉及通信技术领域，尤其涉及无人机的负载的任务管理方法及设备。
背景技术
随着无人机的应用范围、续航时间不断增加，无人机的负载(云台、相机、喷洒器、红外装置等等)需要执行的动作任务的数量十分庞大。例如，无人机在按照预设的飞行航线飞行以对多个电塔巡检时，无人机每次到达任务位置点时，无人机的负载可能需要执行多个动作任务，例如台转动对准监测点、承载在云台上的相机变焦缩放成像、相机对焦以及相机拍照等，如此，导致在整个巡检任务中负载需要执行的动作任务的数量很大。
然而，由于无人机的飞行控制器的存储装置的存储量有限，只能存储有限数量的负载的动作任务，因此，现有技术中针对每个动作位置点只能设置少量的动作任务，这样不能满足负载的动作任务的数量较多的应用场景。
发明内容
本发明实施例提供了无人机的负载的任务管理方法及设备，以使无人机能够满足负载的动作任务数量不断增长的应用场景。
第一方面，本发明实施例提供了一种无人机的负载的任务管理方法，应用于负载的任务管理设备，其特征在于，所述方法包括：
获取所述无人机的飞行航线，其中，所述飞行航线包括多个任务位置点；
获取与所述飞行航线对应的所述负载的工作任务，其中，所述工作任务包括与所述多个任务位置点中每一个任务位置点对应的动作任务；
将所述工作任务拆分成多个工作子任务，其中，所述多个工作子任务中每一个工作子任务包括一个或多个动作任务；
在所述无人机在所述飞行航线上飞行的过程中，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，以使所述飞行控制器在所述无人机到达所述待 执行的工作子任务包括的动作任务对应的任务位置点时，控制所述负载执行所述动作任务。
第二方面，本发明实施例提供了一种任务管理设备，其特征在于，包括存储器和处理器：
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：
获取所述无人机的飞行航线，其中，所述飞行航线包括多个任务位置点；
获取与所述飞行航线对应的所述负载的工作任务，其中，所述工作任务包括与所述多个任务位置点中每一个任务位置点对应的动作任务；
将所述工作任务拆分成多个工作子任务，其中，所述多个工作子任务中每一个工作子任务包括一个或多个动作任务；
在所述无人机在所述飞行航线上飞行的过程中，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，以使所述飞行控制器在所述无人机到达所述待执行的工作子任务包括的动作任务对应的任务位置点时，控制所述负载执行所述动作任务。
第三方面，本发明实施例提供了一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括的程序指令，所述程序指令当被处理器执行时使所述处理器执行第一方面所述的无人机的负载的任务管理方法。
本发明实施例中，任务管理设备将负载的工作任务拆分成多个工作子任务，在无人机在飞行航线上飞行的过程中，从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行所述动作任务。通过这种方式，无人机可以满足负载的动作任务数量不断增长的应用场景，同时，方便用户一次性录入较大数量的负载的动作任务，不会受到飞行控制器的存储装置的存储容量的限制，提高了负载的动作任务的执行效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种任务管理系统的结构图；
图2为本发明实施例提供的一种任务管理方法的流程示意图；
图3为本发明实施例提供的一种任务管理设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供了一种任务管理方法，可以应用于任务管理设备，所述任务管理方法主要用于将负载的工作任务拆分成多个工作子任务，在无人机在飞行航线上飞行的过程中，从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行所述动作任务。
针对现有的无人机满足负载的动作任务的数量较多的应用场景，本发明实施例通过将负载的工作任务拆分成多个工作子任务，在无人机在飞行航线上飞行的过程中，将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行所述动作任务。通过这种方式，无人机可以满足负载的动作任务数量不断增长的应用场景，同时，方便用户一次性录入较大数量的负载的动作任务，不会受到飞行控制器的存储装置的存储容量的限制，提高了负载的动作任务的执行效率。
其中，任务管理设备可以设置在无人机或者与无人机通信连接的地面控制 端上。地面控制端可以包括地面站或者遥控设备等中的一种或多种。遥控设备可以包括遥控器、手机、电脑或者调参屏幕等终端设备中的一种或多种。
其中，无人机可以挂载至少一个负载，例如传感器、云台、定位装置或者喷洒器等，传感器可以包括相机或者雷达等。无人机还可以配置有飞行控制器，飞行控制器用于控制负载执行动作任务。飞行控制器可以配置有存储装置，存储装置用于存储任务管理设备发送的待执行的工作子任务。
参考图1，为本发明实施例提供的一种任务管理系统的结构图，由图1可见，所述任务管理系统可包括无人机10和地面控制端20，所述无人机10与所述地面控制端20相连接、所述无人机10配置有至少一个负载。所述地面控制端20与无人机10之间可以通过无线、蓝牙等方式连接。
在一个实施例中，所述任务管理设备可以设置在地面控制端20中，即所述地面控制端20包括所述任务管理设备。任务管理设备可以生成无人机10的飞行航线，并获取与飞行航线对应的负载的工作任务。任务管理设备将工作任务拆分成多个工作子任务，在无人机10在飞行航线上飞行的过程中，任务管理设备从多个工作子任务中确定一个待执行的工作子任务，任务管理设备将待执行的工作子任务更新到无人机10的飞行控制器的存储装置中，以使飞行控制器在无人机10到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行动作任务。
其中，任务管理设备生成无人机10的飞行航线的方式可以有如下多种：
一、用户在任务管理设备的用户界面对历史任务进行编辑操作，任务管理设备检测到用户的编辑操作时，获取用户输入的编辑信息。任务管理设备按照预设的规则协议，基于历史任务和编辑信息生成无人机10的飞行航线。其中，历史任务可以是任务管理设备在地面控制端20的本地存储器中获取的，也可以是任务管理设备从无人机10中获取的，也可以是任务管理设备通过互联网下载的，具体不受本申请实施例的限制。
二、用户在任务管理设备的用户界面对进行无人机10的飞行航线的配置操作,例如配置各个动作任务的内容，动作任务的内容可以包括执行该动作任务的负载标识、动作任务描述以及动作任务标识等。任务管理设备检测到用户的配置操作时，获取用户输入的各个动作任务的内容，按照预设的规则协议， 基于各个动作任务的内容生成无人机10的飞行航线。
三、任务管理设备可以获取预先生成的测绘结果，基于测绘结果生成无人机10的飞行航线。
在一个实施例中，所述任务管理设备可以设置在无人机10中，即所述无人机10包括所述任务管理设备。任务管理设备可以获取无人机10的飞行航线，获取与飞行航线对应的负载的工作任务，任务管理设备将工作任务拆分成多个工作子任务，在无人机10在飞行航线上飞行的过程中，任务管理设备从多个工作子任务中确定一个待执行的工作子任务，任务管理设备将待执行的工作子任务更新到无人机10的飞行控制器的存储装置中，以使飞行控制器在无人机10到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行动作任务。
示例性的，无人机10的飞行航线可以是从地面控制端20获取的，例如地面控制端20生成飞行航线之后，地面控制端20检测到用户的上传操作，将该飞行航线发送给无人机10。可选的，飞行航线也可以是从其他无人机中获取的，还可以是通过互联网下载的，具体不受本申请实施例的限制。
在一个实施例中，若飞行控制器的存储装置可以存储负载的工作任务，则飞行控制器可以获取无人机10的飞行航线，获取与飞行航线对应的负载的工作任务，飞行控制器在无人机10到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行动作任务。
在一个实施例中，无人机10获取无人机10的飞行航线之后，用户可以通过地面控制端20对飞行航线或者与飞行航线对应的工作任务进行增量式修改。若修改后的内容为飞行航线或者工作任务的部分内容，地面控制端可以仅将修改后的内容发送给无人机，无人机基于修改后的内容对飞行航线或者工作任务进行更新。本申请实施例通过增量式传输，可节省地面控制端20和无人机10之间的链路带宽。
其中，增量式修改可以为对飞行航线或者工作任务增加部分内容，或者删除飞行航线或者工作任务的部分内容，或者对飞行航线或者工作任务的部分内容进行修改。
请参见图2，为本发明实施例提供的一种任务管理方法，所述任务管理方 法可以用于图1所示的任务管理系统中，所述任务管理方法可由任务管理设备执行，所述任务管理方法可包括如下步骤：
步骤201、任务管理设备获取无人机的飞行航线，飞行航线包括多个任务位置点。
具体实现中，如果任务管理设备设置在无人机中，任务管理设备可以接收地面控制端发送的该无人机的飞行航线，或者从其他无人机中获取飞行航线，或者通过互联网下载飞行航线。如果任务管理设备设置在地面控制端中，任务管理设备可以接收用户提交的飞行航线，或者从无人机中获取飞行航线，或者通过互联网下载飞行航线。
在一个实施例中，任务位置点可以是根据飞行航线中的航点确定的。例如，位于飞行航线中的每个航点之后且与该航点间隔预设距离阈值的位置作为任务位置点。又如，将飞行航线中的第N个航点作为任务位置点，N为偶数。又如，位于飞行航线中的每个航点之后且飞行速度为第一预设速度阈值的位置作为任务位置点。
在一个实施例中，任务位置点可以为飞行航线中的航点。即将飞行航线中的每个航点作为任务位置点。例如，飞行航线包括100个航点，则该飞行航线包括100个任务位置点，任务位置点在飞行航线中的位置和航点在飞行航线中的位置相同。
在一个实施例中，当无人机的飞行状态参数满足预设飞行状态条件时，任务管理设备可以确定无人机到达任务位置点，其中，飞行状态参数可以包括无人机的飞行速度、无人机的飞行加速度、无人机的姿态、无人机的负载的姿态中的一种或多种。
如果任务管理设备设置在无人机中，例如，飞行状态参数为无人机的飞行速度，当无人机的飞行速度大于第二预设速度阈值时，任务管理设备可以确定无人机的飞行速度满足预设飞行状态条件，进而确定无人机到达任务位置点。又如，飞行状态参数为无人机的飞行加速度，当无人机的飞行加速度大于预设加速度阈值时，任务管理设备可以确定无人机的加速度满足预设飞行状态条件，进而确定无人机到达任务位置点。又如，飞行状态参数为无人机的姿态，当无人机的姿态与第一预设姿态匹配时，任务管理设备可以确定无人机的姿态满足预设飞行状态条件，进而确定无人机到达任务位置点。又如，飞行状态参 数为无人机的负载的姿态，当无人机的负载的姿态与第二预设姿态匹配时，任务管理设备可以确定无人机的负载的姿态满足预设飞行状态条件，进而确定无人机到达任务位置点。
如果任务管理设备设置在地面控制端中，例如，无人机获取无人机的飞行状态参数之后，无人机将飞行状态参数发送给任务管理设备，任务管理设备判断飞行状态参数是否满足预设飞行状态条件，当飞行状态参数满足预设飞行状态条件时，地面控制端可以确定无人机到达任务位置点。
其中，无人机的姿态可以为无人机的偏航角(Yaw)、俯仰角(Pitch)或者横滚角(Roll)中的一种或多种。无人机的负载的姿态可以为负载的偏航角、俯仰角或者横滚角中的一种或多种。
在一个实施例中，飞行状态参数还可以包括无人机的当前位置，当无人机的当前位置位于预设区域内时，任务管理设备可以确定无人机的当前位置满足预设飞行状态条件，进而确定无人机到达任务位置点。又如，飞行状态参数还可以包括当前系统时间，若当前系统时间为预设时刻，任务管理设备可以确定满足预设飞行状态条件，进而确定无人机到达任务位置点。
步骤202、任务管理设备获取与飞行航线对应的负载的工作任务，工作任务包括与多个任务位置点中每一个任务位置点对应的动作任务。
具体实现中，如果任务管理设备设置在无人机中，任务管理设备可以接收地面控制端发送的与飞行航线对应的负载的工作任务，或者从其他无人机中获取与飞行航线对应的负载的工作任务，或者通过互联网下载与飞行航线对应的负载的工作任务。如果任务管理设备设置在地面控制端中，任务管理设备可以接收用户提交的与飞行航线对应的负载的工作任务，或者从无人机中获取与飞行航线对应的负载的工作任务，或者通过互联网下载与飞行航线对应的负载的工作任务。
在一个实施例中，任务管理设备获取与飞行航线对应的负载的工作任务的过程中，可以对该工作任务进行合法性检测，得到第一检测结果。具体的，任务管理设备可以检测与飞行航线对应的负载的工作任务是否存在冲突，若冲突，则第一检测结果为失败。如果任务管理设备设置在无人机中，任务管理设备可以将第一检测结果发送给地面控制端，地面控制端可以显示第一检测结果。如果任务管理设备设置在地面控制端中，任务管理设备可以显示第一检测 结果。显示第一检测结果之后，地面控制端可以接收用户针对第一检测结果提交的关于上述负载的工作任务的更新信息，地面控制端将该更新信息发送给无人机，以便无人机基于更新信息对上述负载的工作任务进行更新。例如第一相机的工作任务为：拍照的同时进行录像，由于同一相机在同一时间段无法同时进行拍照和录像，则任务管理设备可以确定第一相机的工作任务存在冲突，生成第一检测结果。第一检测结果可以包括用于指示检测成功或检测失败的字段，若检测失败，第一检测结果还可以包括失败原因以及导致检测失败的负载的工作任务。
在一个实施例中，如果任务管理设备设置在无人机中，与飞行航线对应的负载的工作任务是地面控制端发送给任务管理设备的，地面控制端可以对该工作任务进行合法性检测，得到第二检测结果。例如，地面控制端可以进行用户与地面控制端之间的交互检测。示例性的，用户配置的负载的工作任务为：第一相机拍照3.5张，由于相机拍照得到的图像的数量为正整数，无法得到数量为非正整数的图像，则第二检测结果为检测失败。又如，地面控制端可以进行地面控制端和任务管理设备之间的交互检测。示例性的，与飞行航线对应的负载的动作任务为：喷洒器在第一任务位置点喷洒农药，但是任务管理设备识别到无人机并未挂载喷洒器，任务管理设备将用于指示无人机并未挂载喷洒器的消息发送给地面控制端，地面控制端可以确定第二检测结果为检测失败。进一步的，地面控制端可以显示第二检测结果，并接收用户针对第二检测结果提交的关于上述负载的工作任务的更新信息，地面控制端基于更新信息对工作任务进行更新，并将更新后的工作任务发送给无人机。第二检测结果可以包括用于指示检测成功或检测失败的字段，若检测失败，第二检测结果还可以包括失败原因以及导致检测失败的负载的工作任务。
步骤203、任务管理设备将工作任务拆分成多个工作子任务，其中，多个工作子任务中每一个工作子任务包括一个或多个动作任务。
在一个实施例中，任务管理设备可以将工作任务拆分成多个工作子任务，以使多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值。
例如，最后一个工作子任务包括的动作任务对应的任务位置点的数量小于 或等于第一预设数量阈值，多个工作子任务中除最后一个工作子任务以外的其他工作子任务包括的动作任务对应的任务位置点的数量等于第一预设数量阈值。示例性的，飞行航线包括100个任务位置点，第一预设数量阈值为30，则任务管理设备可以将与该飞行航线对应的负载的工作任务拆分成4个工作子任务，第一工作子任务包括的动作任务对应的任务位置点为第一至第三十个任务位置点，第二工作子任务包括的动作任务对应的任务位置点为第三十一至第六十个任务位置点，第三工作子任务包括的动作任务对应的任务位置点为第六十一至第九十个任务位置点，第四工作子任务包括的动作任务对应的任务位置点为第九十一至第一百个任务位置点。
又如，各个工作子任务包括的动作任务对应的任务位置点的数量各不相同。示例性的，飞行航线包括100个任务位置点，第一预设数量阈值为30，则任务管理设备可以将与该飞行航线对应的负载的工作任务拆分成4个工作子任务，第一工作子任务包括的动作任务对应的任务位置点为第一至第三十个任务位置点，第二工作子任务包括的动作任务对应的任务位置点为第三十一至第五十九个任务位置点，第三工作子任务包括的动作任务对应的任务位置点为第六十至第八十七个任务位置点，第四工作子任务包括的动作任务对应的任务位置点为第八十八至第一百个任务位置点。
又如，多个工作子任务包括的动作任务对应的任务位置点的数量部分相同。示例性的，飞行航线包括100个任务位置点，第一预设数量阈值为30，则任务管理设备可以将与该飞行航线对应的负载的工作任务拆分成4个工作子任务，第一工作子任务包括的动作任务对应的任务位置点为第一至第三十个任务位置点，第二工作子任务包括的动作任务对应的任务位置点为第三十一至第六十个任务位置点，第三工作子任务包括的动作任务对应的任务位置点为第六十一至第九十个任务位置点，第四工作子任务包括的动作任务对应的任务位置点为第九十一至第一百个任务位置点。
在一个实施例中，如果每一个动作任务对应一个执行时间信息，任务管理设备可以根据动作任务对应的执行时间信息，将工作任务包括的动作任务进行分组，得到多个动作任务组，将多个工作任务组中每一个动作任务组确定为一个工作子任务。
例如，任务管理设备可以将执行时间为第一时间区间的动作任务划分为第一动作任务组，将执行时间为第二时间区间的动作任务划分为第二动作任务组，将执行时间为第三时间区间的动作任务划分为第三动作任务组，其中第一动作任务组所包含的动作任务组成第一工作子任务，第二动作任务组所包含的动作任务组成第二工作子任务，第三动作任务组所包含的动作任务组成第三工作子任务。示例性的，飞行航线的执行时间为7：00至10:00，任务管理设备可以将执行时间为[7:00，8:00]的动作任务划分为第一动作任务组，将执行时间为(8:00，9:00]的动作任务划分为第二动作任务组，将执行时间为(9:00，10:00]的动作任务划分为第三动作任务组。
又如，任务管理设备可以按照预设时间间隔将工作任务包括的动作任务划分为多个动作任务组。示例性的，假设飞行航线的执行时间为7：00至10:00，预设时间间隔为60分钟(min)，每个动作任务组所包含的动作任务的执行时间之间的差值小于或等于预设时间间隔，则任务管理设备可以将执行时间为[7:00，8:00]的动作任务划分为第一动作任务组，将执行时间为(8:00，9:00]的动作任务划分为第二动作任务组，将执行时间为(9:00，10:00]的动作任务划分为第三动作任务组。
在一个实施例中，每一个工作子任务所包含的各个动作任务对应的执行时间信息之间的差值小于预设时长阈值。示例性的，假设飞行航线的执行时间为7：00至10:00，预设时间间隔为50分钟(min)，每个动作任务组所包含的动作任务的执行时间之间的差值小于预设时间间隔，则任务管理设备可以将执行时间为[7:00，7:50]的动作任务划分为第一动作任务组，将执行时间为(7:50，8:0]的动作任务划分为第二动作任务组，将执行时间为(8:40，9:30]的动作任务划分为第三动作任务组，将执行时间为(9:30，10:00]的动作任务划分为第四动作任务组。
在一个实施例中，任务管理设备可以根据动作任务对应的执行距离信息，将工作任务包括的动作任务进行分组，得到多个动作任务组，将多个工作任务组中每一个动作任务组确定为一个工作子任务。
例如，任务管理设备可以将执行距离为第一距离区间的动作任务划分为第一动作任务组，将执行距离为第二距离区间的动作任务划分为第二动作任务 组，将执行距离为第三距离区间的动作任务划分为第三动作任务组，其中第一动作任务组所包含的动作任务组成第一工作子任务，第二动作任务组所包含的动作任务组成第二工作子任务，第三动作任务组所包含的动作任务组成第三工作子任务。示例性的，飞行航线的执行距离为6千米(km)，任务管理设备可以将执行距离为[0，2km]的动作任务划分为第一动作任务组，将执行距离为(2km，4km]的动作任务划分为第二动作任务组，将执行距离为(4km，6km]的动作任务划分为第三动作任务组。
又如，任务管理设备可以按照预设距离间隔将工作任务包括的动作任务划分为多个动作任务组。示例性的，假设飞行航线的执行距离为6km，预设时间间隔为2km，每个动作任务组所包含的动作任务的执行距离信息之间的差值小于或等于预设距离间隔，则任务管理设备可以将执行距离为[0，2km]的动作任务划分为第一动作任务组，将执行距离为(2km，4km]的动作任务划分为第二动作任务组，将执行距离为(4km，6km]的动作任务划分为第三动作任务组。
在一个实施例中，每一个工作子任务所包含的各个动作任务对应的执行距离信息之间的差值小于预设距离阈值。示例性的，假设飞行航线的执行距离为6km，预设距离间隔为4km，每个动作任务组所包含的动作任务的执行距离之间的差值小于预设距离间隔，则任务管理设备可以将执行距离为[0，4km]的动作任务划分为第一动作任务组，将执行距离为(4km，6km]的动作任务划分为第二动作任务组。
在一个实施例中，相关联的动作任务位于同一个工作子任务中。例如，第一动作任务为：云台转动90°，第二动作任务为：第一相机拍照，第一动作任务结束将触发执行第二动作任务，则第一动作任务和第二动作任务相关联，任务管理设备可以将第一动作任务和第二动作任务划分至同一个工作子任务中。
需要说明的是，任务管理设备可以采用上述任一种方式得到多个工作子任务，也可以将上述方式进行组合得到多个工作子任务，例如多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值，且相关联的动作任务位于同一个工作子任务中。又如多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值，且每一个工作子任务所包含的各个动作任务对应的执 行距离信息之间的差值小于预设距离阈值。
在一个实施例中，当满足预设的拆分条件时，任务管理设备可以将工作任务拆分成多个工作子任务。
具体的，任务管理设备获取与飞行航线对应的负载的工作任务之后，可以判断是否满足预设的拆分条件，当满足预设的拆分条件时，任务管理设备可以将工作任务拆分成多个工作子任务。
在一个实施例中，当多个任务位置点的数量大于或等于第二预设数量阈值时，或者工作任务的数据量大于或等于预设数据量阈值时，任务管理设备确定满足预设的拆分条件，进而将工作任务拆分成多个工作子任务。例如，第二预设数量阈值为100，飞行航线包括200个任务位置点，任务管理设备可以确定多个任务位置点的数量大于第二预设数量阈值，进而确定满足预设的拆分条件，将工作任务拆分成多个工作子任务。又如，预设数据量阈值为100Mb，与飞行航线对应的负载的工作任务的数据量为200Mb，任务管理设备可以确定工作任务的数据量大于预设数据量阈值，进而确定满足预设的拆分条件，将工作任务拆分成多个工作子任务。
步骤204、在无人机在飞行航线上飞行的过程中，任务管理设备从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行动作任务。
在一个实施例中，在无人机在飞行航线上飞行的过程中，任务管理设备可以确定是否满足预设的更新条件，当满足预设的更新条件时，从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中。例如，工作子任务包括第一工作子任务、第二工作子任务和第三工作子任务，其中第一工作子任务的执行时间大于第二工作子任务的执行时间，第二工作子任务的执行时间大于第三工作子任务的执行时间，飞行控制器在控制负载执行第一工作子任务包括的动作任务时，确定满足预设的更新条件，则任务管理设备可以将第二工作子任务确定为待执行的工作子任务，并将第二工作子任务更新到无人机的飞行控制器的存储装置中。
在一个实施例中，任务管理设备可以获取飞行控制器中存储装置的可用存 储空间指示信息或者飞行控制器对之前更新的工作子任务的执行状态信息，根据可用存储空间指示信息或者执行状态信息，确定是否满足预设的更新条件。
其中，之前更新的工作子任务可以为最近一次更新的工作子任务或者多个工作子任务中已经更新的工作子任务。可用存储空间指示信息用于指示存储装置的可用存储空间。执行状态信息用于指示工作子任务未执行、正在执行或者已经完成执行等。
在一个实施例中，当根据存储空间指示信息确定存储装置的可用存储空间大于或等于待执行的工作子任务的数据量时，或者当根据所述执行状态信息确定之前更新的工作子任务已经完成执行时，任务管理设备可以确定满足预设的更新条件。例如，待执行的工作子任务的数据量为70Mb，存储空间指示信息确定存储装置的可用存储空间为100Mb，存储装置的可用存储空间大于待执行的工作子任务的数据量，则任务管理设备可以确定满足预设的更新条件。又如，任务管理设备根据执行状态信息确定最近一次更新的工作子任务中所有动作任务均已经完成执行，则任务管理设备可以确定满足预设的更新条件。
在一个实施例中，当接收到飞行控制器中存储装置的可用存储空间指示信息或者飞行控制器对之前更新的工作子任务的执行状态信息时，任务管理设备可以确定满足预设的更新条件。例如，将工作任务进行拆分得到多个工作子任务，各个工作子任务的数据量均小于预设数据量阈值。当存储装置的可用存储空间大于或者等于预设数据量阈值时，飞行控制器向任务管理设备发送可用存储空间指示信息，则任务管理设备接收到可用存储空间指示信息之后，可以确定存储装置的可用存储空间大于或者等于预设数据量阈值，即存储装置有足够的存储空间存储工作子任务，则任务管理设备可以确定满足预设的更新条件。又如，之前更新的工作子任务已经完成执行时，飞行控制器可以向任务管理设备发送之前更新的工作子任务的执行状态信息，则任务管理设备接收到执行状态信息之后，可以确定之前更新的工作子任务已经完成执行，则任务管理设备可以确定满足预设的更新条件。
其中，之前更新的工作子任务可以为最近一次更新的工作子任务或者多个工作子任务中已经更新的工作子任务。可用存储空间指示信息用于指示存储装置的可用存储空间。执行状态信息用于指示工作子任务未执行、正在执行或者 已经完成执行等。
在一个实施例中，任务管理设备可以判断无人机在飞行航线上的飞行时间是否到达时间周期节点或者无人机在飞行航线上的飞行距离是否到达距离周期节点，当达到时间周期节点或者距离周期节点时，任务管理设备可以确定满足预设的更新条件。例如，时间周期节点可以为30min,无人机在飞行航线上的飞行时间每间隔30min，任务管理设备可以确定满足预设的更新条件。举例来说，飞行航线的执行时间为7:00-9:00，则在7:30,8:00以及8:30时刻，任务管理设备可以确定满足预设的更新条件。又如，距离周期节点可以为1km,无人机在飞行航线上的飞行距离每间隔1km，任务管理设备可以确定满足预设的更新条件。举例来说，飞行航线的飞行距离为4km，则无人机在飞行航线上的飞行距离到达1km，2km以及3km时，任务管理设备可以确定满足预设的更新条件。
在一个实施例中，任务管理设备可以向飞行控制器发送删除请求信息，其中，删除请求信息用于请求飞行控制器删除存储装置中存储的已经完成执行的动作任务或者在预设时间内不执行的动作任务。本申请实施例通过删除存储装置中存储的已经完成执行的动作任务或者在预设时间内不执行的动作任务，以便于存储装置有足够的存储空间存储待执行的工作子任务，可减少任务执行时延。
在一个实施例中，任务管理设备将待执行的工作子任务更新到无人机的飞行控制器的存储装置之后，飞行控制器可以对待执行的工作子任务所包含的各个动作任务进行合法性检测，得到第三检测结果。具体的，飞行控制器可以检测待执行的工作子任务所包含的各个动作任务是否存在冲突，若冲突，则第三检测结果为失败，飞行控制器可以将第三检测结果发送给地面控制端。地面控制端可以显示第三检测结果，并接收用户针对第三检测结果提交的关于上述负载的动作任务的更新信息，地面控制端将该更新信息发送给飞行控制器，以便飞行控制器基于更新信息对上述待执行的工作子任务进行更新。例如动作任务为：云台转动728°，由于云台可转动的最大角度为360°，则飞行控制器可以确定动作任务存在冲突，生成第三检测结果，并将第三检测结果发送给地面控制端。第三检测结果可以包括用于指示检测成功或检测失败的字段，若检测 失败，第三检测结果还可以包括失败原因以及导致检测失败的动作任务。
在一个实施例中，任务管理设备将待执行的工作子任务更新到无人机的飞行控制器的存储装置之前，可以判断存储装置的可用存储空间是否大于或者等于待执行的工作子任务的数据量，当存储装置的可用存储空间小于待执行的工作子任务的数据量时，任务管理设备可以向地面控制端发送提示信息，提示信息用于提示存储装置的可用存储空间小于待执行的工作子任务的数据量，以便用户通过地面控制端对工作任务进行更新。例如，存储装置在同一时间仅可存放50个动作任务，而待执行的工作子任务包括51个动作任务，则任务管理设备可以确定存储装置的可用存储空间小于待执行的工作子任务的数据量，进而生成提示信息。
本发明实施例中，任务管理设备将工作任务拆分成多个工作子任务，在无人机在飞行航线上飞行的过程中，从多个工作子任务中确定一个待执行的工作子任务，并将待执行的工作子任务更新到无人机的飞行控制器的存储装置中，以使飞行控制器在无人机到达待执行的工作子任务包括的动作任务对应的任务位置点时，控制负载执行所述动作任务。通过这种方式，无人机可以满足负载的动作任务数量不断增长的应用场景，同时，方便用户一次性录入较大数量的负载的动作任务，不会受到飞行控制器的存储装置的存储容量的限制，提高了负载的动作任务的执行效率。
参考图3，为本发明实施例提供的一种任务管理设备，如图3所述的任务管理设备可包括：存储器301和处理器302，其中存储器301和处理器302通过总线303连接，存储器301中存储有程序代码，处理器302调用存储器中的程序代码。
所述存储器301可以包括易失性存储器(volatile memory)，如随机存取存储器(random-access memory，RAM)；存储器301也可以包括非易失性存储器(non-volatile memory)，如快闪存储器(flash memory)，固态硬盘(solid-state drive，SSD)等；存储器301还可以包括上述种类的存储器的组合。
所述处理器302可以是中央处理器(Central Processing Unit，CPU)。 所述处理器302还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)等。该PLD可以是现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)等。所述处理器302也可以为上述结构的组合。
本发明实施例中，所述存储器301用于存储计算机程序，所述计算机程序包括程序指令，处理器302用于执行存储器301存储的程序指令，用来实现上述图3所示的实施例中的相应方法的步骤：
当程序代码被执行时，处理器302执行如下操作：
获取所述无人机的飞行航线，其中，所述飞行航线包括多个任务位置点；
获取与所述飞行航线对应的所述负载的工作任务，其中，所述工作任务包括与所述多个任务位置点中每一个任务位置点对应的动作任务；
将所述工作任务拆分成多个工作子任务，其中，所述多个工作子任务中每一个工作子任务包括一个或多个动作任务；
在所述无人机在所述飞行航线上飞行的过程中，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，以使所述飞行控制器在所述无人机到达所述待执行的工作子任务包括的动作任务对应的任务位置点时，控制所述负载执行所述动作任务。
在一个实施例中，所述处理器302在将所述工作任务拆分成多个工作子任务时，执行如下操作：
将所述工作任务拆分成多个工作子任务，以使所述多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值。
在一个实施例中，每一个所述动作任务对应一个执行时间信息，所述处理器302在将所述工作任务拆分成多个工作子任务时，执行如下操作：
根据所述动作任务对应的执行时间信息，将所述工作任务包括的动作任务进行分组，得到多个动作任务组；
将所述多个工作任务组中每一个动作任务组确定为一个工作子任务。
在一个实施例中，每一个所述工作子任务所包含的各个动作任务对应的执行时间信息之间的差值小于预设时长阈值。
在一个实施例中，所述处理器302还执行如下操作：
确定是否满足预设的更新条件；
所述处理器从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中时，执行如下操作：
当满足所述预设的更新条件时，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中。
在一个实施例中，所述处理器302确定是否满足预设的更新条件时，执行如下操作：
获取所述飞行控制器中存储装置的可用存储空间指示信息或者所述飞行控制器对之前更新的工作子任务的执行状态信息；
根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件。
在一个实施例中，所述处理器302根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件时，执行如下操作：
当根据所述存储空间指示信息确定所述存储装置的可用存储空间大于或等于待执行的工作子任务的数据量时，或者当根据所述执行状态信息确定之前更新的工作子任务已经完成执行时，确定满足所述预设的更新条件。
在一个实施例中，所述处理器302将所述工作任务拆分成多个工作子任务时，执行如下操作：
当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务。
在一个实施例中，所述处理器302当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务时，执行如下操作：
当所述多个任务位置点的数量大于或等于第二预设数量阈值时，或者所述工作任务的数据量大于或等于预设数据量阈值时，确定满足所述预设的拆分条件；
将所述工作任务拆分成多个工作子任务。
在一个实施例中，所述处理器302还执行如下操作：
向所述飞行控制器发送删除请求信息，其中，所述删除请求信息用于请求所述飞行控制器删除所述存储装置中存储的已经完成执行的动作任务或者在预设时间内不执行的动作任务。
在一个实施例中，所述任务位置点是根据所述飞行航线中的航点确定的。
在一个实施例中，所述任务位置点为所述飞行航线中的航点。
在一个实施例中，所述处理器302还执行如下操作：
当所述无人机的飞行状态参数满足预设飞行状态条件时，确定所述无人机到达所述任务位置点。
在一个实施例中，所述飞行状态参数包括所述无人机的飞行速度、所述无人机的飞行加速度、所述无人机的姿态、所述无人机的负载的姿态中的一种或多种。
在一个实施例中，所述处理器302还执行如下操作：
当所述无人机的第二飞行状态参数满足第二预设飞行状态条件时，确定所述无人机到达所述任务位置点，其中，所述第二飞行状态参数不同于所述飞行状态参数。
在一个实施例中，所述任务管理设备设置在所述无人机或者与所述无人机通信连接的地面控制端上。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部 单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (31)

  1. 一种无人机的负载的任务管理方法，应用于负载的任务管理设备，其特征在于，包括：
    获取所述无人机的飞行航线，其中，所述飞行航线包括多个任务位置点；
    获取与所述飞行航线对应的所述负载的工作任务，其中，所述工作任务包括与所述多个任务位置点中每一个任务位置点对应的动作任务；
    将所述工作任务拆分成多个工作子任务，其中，所述多个工作子任务中每一个工作子任务包括一个或多个动作任务；
    在所述无人机在所述飞行航线上飞行的过程中，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，以使所述飞行控制器在所述无人机到达所述待执行的工作子任务包括的动作任务对应的任务位置点时，控制所述负载执行所述动作任务。
  2. 根据权利要求1所述的方法，其特征在于，所述将所述工作任务拆分成多个工作子任务，包括：
    将所述工作任务拆分成多个工作子任务，以使所述多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值。
  3. 根据权利要求1所述的方法，其特征在于，每一个所述动作任务对应一个执行时间信息，所述将所述工作任务拆分成多个工作子任务，包括：
    根据所述动作任务对应的执行时间信息，将所述工作任务包括的动作任务进行分组，得到多个动作任务组；
    将所述多个工作任务组中每一个动作任务组确定为一个工作子任务。
  4. 根据权利要求3所述的方法，其特征在于，每一个所述工作子任务所包含的各个动作任务对应的执行时间信息之间的差值小于预设时长阈值。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：
    确定是否满足预设的更新条件；
    所述从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，包括：
    当满足所述预设的更新条件时，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中。
  6. 根据权利要求5所述的方法，其特征在于，所述确定是否满足预设的更新条件，包括：
    获取所述飞行控制器中存储装置的可用存储空间指示信息或者所述飞行控制器对之前更新的工作子任务的执行状态信息；
    根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件，包括：
    当根据所述存储空间指示信息确定所述存储装置的可用存储空间大于或等于待执行的工作子任务的数据量时，或者当根据所述执行状态信息确定之前更新的工作子任务已经完成执行时，确定满足所述预设的更新条件。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述将所述工作任务拆分成多个工作子任务，包括：
    当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务。
  9. 根据权利要求8所述的方法，其特征在于，所述当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务，包括：
    当所述多个任务位置点的数量大于或等于第二预设数量阈值时，或者所述 工作任务的数据量大于或等于预设数据量阈值时，确定满足所述预设的拆分条件；
    将所述工作任务拆分成多个工作子任务。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述方法还包括：
    向所述飞行控制器发送删除请求信息，其中，所述删除请求信息用于请求所述飞行控制器删除所述存储装置中存储的已经完成执行的动作任务或者在预设时间内不执行的动作任务。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述任务位置点是根据所述飞行航线中的航点确定的。
  12. 根据权利要求11所述的方法，其特征在于，所述任务位置点为所述飞行航线中的航点。
  13. 根据权利要求1-10任一项所述的方法，其特征在于，当所述无人机的飞行状态参数满足预设飞行状态条件时，所述无人机到达所述任务位置点。
  14. 根据权利要求13所述的方法，其特征在于，所述飞行状态参数包括所述无人机的飞行速度、所述无人机的飞行加速度、所述无人机的姿态、所述无人机的负载的姿态中的一种或多种。
  15. 根据权利要求1-14任一项所述的方法，其特征在于，所述任务管理设备设置在所述无人机或者与所述无人机通信连接的地面控制端上。
  16. 一种任务管理设备，其特征在于，包括存储器和处理器：
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：
    获取所述无人机的飞行航线，其中，所述飞行航线包括多个任务位置点；
    获取与所述飞行航线对应的所述负载的工作任务，其中，所述工作任务包括与所述多个任务位置点中每一个任务位置点对应的动作任务；
    将所述工作任务拆分成多个工作子任务，其中，所述多个工作子任务中每一个工作子任务包括一个或多个动作任务；
    在所述无人机在所述飞行航线上飞行的过程中，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中，以使所述飞行控制器在所述无人机到达所述待执行的工作子任务包括的动作任务对应的任务位置点时，控制所述负载执行所述动作任务。
  17. 根据权利要求16所述的任务管理设备，其特征在，所述处理器在将所述工作任务拆分成多个工作子任务时，执行如下操作：
    将所述工作任务拆分成多个工作子任务，以使所述多个工作子任务中每一个工作子任务包括的动作任务对应的任务位置点的数量小于或等于第一预设数量阈值。
  18. 根据权利要求16所述的任务管理设备，其特征在于，每一个所述动作任务对应一个执行时间信息，所述处理器在将所述工作任务拆分成多个工作子任务时，执行如下操作：
    根据所述动作任务对应的执行时间信息，将所述工作任务包括的动作任务进行分组，得到多个动作任务组；
    将所述多个工作任务组中每一个动作任务组确定为一个工作子任务。
  19. 根据权利要求18所述的任务管理设备，其特征在于，每一个所述工作子任务所包含的各个动作任务对应的执行时间信息之间的差值小于预设时长阈值。
  20. 根据权利要求16-19任一项所述的任务管理设备，其特征在于，所述 处理器还执行如下操作：
    确定是否满足预设的更新条件；
    所述处理器从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中时，执行如下操作：
    当满足所述预设的更新条件时，从所述多个工作子任务中确定一个待执行的工作子任务，并将所述待执行的工作子任务更新到所述无人机的飞行控制器的存储装置中。
  21. 根据权利要求20所述的任务管理设备，其特征在于，所述处理器确定是否满足预设的更新条件时，执行如下操作：
    获取所述飞行控制器中存储装置的可用存储空间指示信息或者所述飞行控制器对之前更新的工作子任务的执行状态信息；
    根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件。
  22. 根据权利要求21所述的任务管理设备，其特征在于，所述处理器根据所述可用存储空间指示信息或者所述执行状态信息，确定是否满足所述预设的更新条件时，执行如下操作：
    当根据所述存储空间指示信息确定所述存储装置的可用存储空间大于或等于待执行的工作子任务的数据量时，或者当根据所述执行状态信息确定之前更新的工作子任务已经完成执行时，确定满足所述预设的更新条件。
  23. 根据权利要求16-22任一项所述的任务管理设备，其特征在于，所述处理器将所述工作任务拆分成多个工作子任务时，执行如下操作：
    当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务。
  24. 根据权利要求23所述的任务管理设备，其特征在于，所述处理器当满足预设的拆分条件时，将所述工作任务拆分成多个工作子任务时，执行如下 操作：
    当所述多个任务位置点的数量大于或等于第二预设数量阈值时，或者所述工作任务的数据量大于或等于预设数据量阈值时，确定满足所述预设的拆分条件；
    将所述工作任务拆分成多个工作子任务。
  25. 根据权利要求16-24任一项所述的任务管理设备，其特征在于，所述处理器还执行如下操作：
    向所述飞行控制器发送删除请求信息，其中，所述删除请求信息用于请求所述飞行控制器删除所述存储装置中存储的已经完成执行的动作任务或者在预设时间内不执行的动作任务。
  26. 根据权利要求16-25任一项所述的任务管理设备，其特征在于，所述任务位置点是根据所述飞行航线中的航点确定的。
  27. 根据权利要求26所述的任务管理设备，其特征在于，所述任务位置点为所述飞行航线中的航点。
  28. 根据权利要求16-25任一项所述的任务管理设备，其特征在于，当所述无人机的飞行状态参数满足预设飞行状态条件时，所述无人机到达所述任务位置点。
  29. 根据权利要求28所述的任务管理设备，其特征在于，所述飞行状态参数包括所述无人机的飞行速度、所述无人机的飞行加速度、所述无人机的姿态、所述无人机的负载的姿态中的一种或多种。
  30. 根据权利要求16-29任一项所述的任务管理设备，其特征在于，所述任务管理设备设置在所述无人机或者与所述无人机通信连接的地面控制端上。
  31. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括的程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求1-15任一项所述的无人机的负载的任务管理方法。
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