WO2022095014A1 - Procédé et dispositif de commande de fonctionnement appliqués à un véhicule aérien sans pilote, et terminal de commande - Google Patents

Procédé et dispositif de commande de fonctionnement appliqués à un véhicule aérien sans pilote, et terminal de commande Download PDF

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Publication number
WO2022095014A1
WO2022095014A1 PCT/CN2020/127459 CN2020127459W WO2022095014A1 WO 2022095014 A1 WO2022095014 A1 WO 2022095014A1 CN 2020127459 W CN2020127459 W CN 2020127459W WO 2022095014 A1 WO2022095014 A1 WO 2022095014A1
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Prior art keywords
drone
area
icon
processor
plot
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PCT/CN2020/127459
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English (en)
Chinese (zh)
Inventor
陈建林
李振初
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深圳市大疆创新科技有限公司
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Priority to CN202080080917.0A priority Critical patent/CN114761897A/zh
Priority to PCT/CN2020/127459 priority patent/WO2022095014A1/fr
Publication of WO2022095014A1 publication Critical patent/WO2022095014A1/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

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular, to an operation control method, a device, a control terminal and a computer-readable storage medium applied to an unmanned aerial vehicle.
  • UAVs have been used in surveying and mapping, agriculture, inspection and other aspects. Because applications such as surveying and mapping, agriculture, and patrol inspection usually require operations on large-area plots, when faced with large-area plots, the operating efficiency of a single drone is often unable to meet the needs. Therefore, multiple drones can be used. Human and machine work together to greatly shorten the working time.
  • the embodiments of the present application provide an operation control method, device, control terminal and computer-readable storage medium applied to an unmanned aerial vehicle, one of the purposes is to solve the inconvenient operation when the unmanned aerial vehicle is associated with a plot area. technical problem.
  • a first aspect of the embodiments of the present application provides an operation control method applied to an unmanned aerial vehicle, which is applied to a control terminal, where the control terminal is used to control a plurality of unmanned aerial vehicles to perform operation tasks, and the method includes:
  • the selected plot area is identified on the map model;
  • the multiple drone icons include a first drone icon;
  • the plurality of drones includes a first drone corresponding to the first drone icon;
  • the first drone is controlled to perform an operation task in the first selected land area.
  • a second aspect of an embodiment of the present application provides an operation control device applied to an unmanned aerial vehicle, comprising: a processor and a memory storing a computer program, wherein the processor implements the following steps when executing the computer program:
  • the selected plot area is identified on the map model;
  • the multiple drone icons include a first drone icon;
  • the plurality of drones includes a first drone corresponding to the first drone icon;
  • the first drone is controlled to perform an operation task in the first selected land area.
  • a third aspect of the embodiments of the present application provides a control terminal for controlling multiple unmanned aerial vehicles to perform flight missions, the control terminal comprising: a display device, an antenna device, a processor, and a memory storing a computer program;
  • the antenna device is used for establishing communication with a plurality of unmanned aerial vehicles
  • the processor implements the following steps when executing the computer program:
  • the selected plot area is identified on the map model;
  • the multiple drone icons include a first drone icon;
  • the plurality of drones includes a first drone corresponding to the first drone icon;
  • the first drone is controlled to perform an operation task in the first selected land area.
  • a fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the application to a drone provided by the embodiments of the present application is implemented method of job control.
  • the operation control method applied to the UAV provided by the embodiment of the present application can mark the selected plot area and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected plot area , which can quickly complete the association between each drone and the selected plot area. Compared with the related technology, it needs to enter the independent interface of each drone to perform the association, which can greatly improve the convenience of operation. In addition, the association result between the drone and the selected plot area can be visually displayed, so that users can easily find association errors and reduce the occurrence of association errors.
  • FIG. 1 is a schematic diagram of a scenario of a multi-machine operation provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of an operation control method applied to an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 3 is a first display interface of a control terminal provided by an embodiment of the present application.
  • FIG. 4 is a second display interface of a control terminal provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an operation control device applied to an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • the use of drones to replace manual operations can greatly improve operational efficiency.
  • the plant protection drones are equipped with a spraying system. Through the plant protection drones flying on a specific route on the plot, and spraying drugs during the flight, the fertilization and treatment of the plot can be completed quickly. Pesticide and other farming.
  • FIG. 1 is a schematic diagram of a scenario of a multi-machine operation provided by an embodiment of the present application.
  • the user Before using multiple UAVs for operation, the user needs to assign each UAV participating in the operation a plot area to be operated, that is, it is necessary to associate each UAV with a plot area.
  • the user when a user associates a plot area of multiple drones, the user needs to repeat the following operations: select a drone, enter the plot association interface of the drone, select a plot area to associate with the drone. The drone is associated, exit the drone's plot association interface, select another drone, and enter the drone's plot association interface... It can be seen that the user is performing plots on multiple drones. A large number of operations need to be repeated when the region is associated, and the operation efficiency is low, giving the user a bad experience.
  • an embodiment of the present application provides an operation control method applied to an unmanned aerial vehicle, and the method can be applied to a control terminal.
  • the control terminal can establish communication with the UAV through frequency pairing. When establishing communication with multiple UAVs, it can connect to each UAV through different channels.
  • the control terminal can have various implementations.
  • the control terminal may be a remote controller with its own display device.
  • the control terminal may be a combination of a remote control and a mobile terminal, that is, the remote control and the mobile terminal may be connected in a wired or wireless manner, and a corresponding application program (APP) may be installed on the mobile terminal.
  • APP application program
  • the interaction with the drone can be realized through the APP.
  • the control terminal may also be a mobile terminal, and the mobile terminal may provide a virtual remote control to the user through an APP.
  • the control terminal may also be a combination of a remote controller and flying glasses.
  • control terminal can be used to control a plurality of UAVs to perform operation tasks, as shown in FIG. 2 , which is a flowchart of the operation control method applied to the UAV provided by the embodiment of the present application Figure, the method may include the following steps:
  • Map models can be obtained in multiple ways.
  • the map model can be invoked through the API of the third-party map software.
  • the drone may be used for surveying and mapping in advance, and a map model may be established according to the pictures taken during the surveying and mapping process.
  • the parcel area can be created from the parcel data of the parcel to be worked on.
  • the plot data of the plot to be operated can be obtained in various ways.
  • the user can control the drone to fly along the boundary of the plot to be operated, so as to obtain the plot data of the plot to be operated.
  • the field data can also be measured by the user walking along the field by holding a remote control.
  • the parcel data can also be measured by hand-held RTK.
  • the multiple plot areas identified on the map model may also be obtained by dividing the total plot area selected by the user on the map model.
  • the user can perform a selection operation on the map model, for example, by using a selection tool to perform frame selection or drawing on the map model, and the control terminal can obtain the user's selection operation to determine the total plot area.
  • the total lot area may be a large-area lot area where the user needs to perform work. If the area of the total plot area is too large, it will be too inefficient for a drone to be responsible for the operation of the total plot area.
  • the control terminal is currently connected to three unmanned aerial vehicles, the total land area that is too large can be divided into three land areas with smaller areas, and the three areas can be marked on the map model. land area, so that subsequent users can assign the three land area areas to the three UAVs currently connected.
  • a preset number of parcel areas closest to the control terminal may be selected from the created parcel areas and marked on the map model. Since the user usually brings the control terminal to the vicinity of the plot area to be operated before performing the operation task, marking the plot area closest to the control terminal on the map model can facilitate the user to quickly find the location on the map model. The area of the parcel where work is secondary.
  • the control terminal can establish connections with multiple drones, and can obtain the position information of each drone, and identify the corresponding position of each drone on the corresponding position of the map model through the drone icon.
  • the control terminal may also identify each plot area on the map model according to the location information of each plot area.
  • the control terminal can also obtain image transmission pictures (also called FPV pictures, ie, first-person perspective pictures) and status information transmitted by each connected drone.
  • the status information of the UAV may include one or more of the following: power, flight speed, flow, distance from the control terminal, area of the completed operation, flight height, and the like.
  • the status information and image transmission images of different drones can be switched and displayed according to the user's operation of the drone icon or the dial on the control terminal. For example, the user can click any one of the multiple drone icons on the map model, and the control terminal can display the image transmission screen and status information of the drone corresponding to the drone icon clicked by the user on the display interface .
  • FIG. 3 is a first display interface of a control terminal provided by an embodiment of the present application. As shown in Figure 3, five plot areas are identified on the map model, and the user can perform selection operations on the plot list on the left side of the display interface.
  • the plot area selected by the user can be called the selected plot area , after the selected parcel area is determined, the selected parcel area can be marked on the map model, while the unselected parcel area can no longer be marked.
  • FIG. 4 is the second display interface of the control terminal provided by the embodiment of the present application. It can be seen that there are three selected parcel areas, and the remaining unselected parcel areas are no longer marked.
  • S206 Acquire the user's operation on the first drone icon or the first selected plot area, associate the first drone with the first selected plot area, and display the association result.
  • the first drone icon may be any drone icon among the plurality of drone icons, and the drone corresponding to the first drone icon may be referred to as the first drone , the first selected parcel area may be any selected parcel area among multiple selected parcel areas.
  • the user can associate the drone with the selected parcel area.
  • the user can associate the drone with the selected parcel area by dragging the drone icon to the selected parcel area to be associated.
  • the user's touch and drag operations on the first drone icon can be acquired, and when the first drone icon is dragged to a position overlapping with the first selected plot area, the first drone icon can be released.
  • the man-machine is associated with the first selected parcel area.
  • determining whether the first drone icon is located at a position overlapping with the first selected parcel area in one embodiment, if the first drone icon and the first selected parcel area have an area of overlap, it can be determined that the first drone icon is located at a position that overlaps with the first selected plot area. In one embodiment, if the center of the first drone icon is located within the first selected land block area, it can be determined that the first drone icon is located at a position overlapping with the first selected land block area.
  • the first selected parcel area may be highlighted, To remind the user that if the first drone icon is released at this time, the first drone will be associated with the first selected plot area.
  • the first drone icon may also return to the position before the drag operation.
  • the drone icon may include two types. Please continue to refer to FIG. 4 .
  • FIG. 4 includes two types of drone icons.
  • the first type of drone icon is located below the selected plot area. , which can be used to identify the location of the drone.
  • the second drone icon is displayed on the right side of the display interface in the form of a list, which can be used for dragging by the user. Since the size of the second type of drone icon is larger than that of the first type of drone icon, it is convenient for the user to touch and drag the second type of drone icon.
  • the user's operation on the first drone icon or the first selected land block area may further include the user's clicking operation on the first drone icon and the first selected land block area. Specifically, in two consecutive clicks, the user can click the drone icon once and click the selected plot area once, then the drone corresponding to the clicked drone icon will be the same as the clicked selected Plot areas can be associated.
  • a connection line may be established between the first drone icon and the first selected land area, so that the user can intuitively see the first drone and the first selected land through the connection line Associations between block regions.
  • the first drone icon can be connected to the operation starting point in the first selected plot area, thereby connecting The line may also indicate the course of the first drone from the take-off point to the start of the operation.
  • a corresponding serial number may be assigned to each connected drone according to the time sequence of the connection establishment. In this way, between the first drone and the first drone After a selected parcel area is associated, the serial number corresponding to the first drone may also be displayed on the first selected parcel area, so that the user can intuitively see the association result, as shown in FIG. 4 .
  • the operation parameters and route parameters input by the user can also be obtained, and the target state of the first unmanned aerial vehicle during operation can be determined according to the operation parameters , and determine the flight route of the first drone in the first selected plot area according to the route parameter.
  • operational parameters may include spray volume, flight speed, flow, flight altitude, and the like.
  • route parameters may include the setback distance of the route boundary, the route spacing, the route angle, and the like.
  • each drone Before the drone officially starts to work, each drone can also be controlled to perform self-inspection, and the self-inspection report of each drone can be obtained.
  • the self-inspection reports of each drone can be displayed in order in a list, so that users can quickly check the situation of each drone.
  • the operation task data corresponding to the selected plot area associated with the UAV can be transmitted to the UAV, and the UAV can receive the operation task data after the transmission of the operation task data is completed. After the instruction to start the operation is received, the operation task is automatically performed on the associated selected parcel area according to the operation task data.
  • the operation task data may include boundary information of the plot area associated with the UAV, the above-mentioned operation parameters and route parameters, and the like.
  • the operation control method applied to the UAV provided by the embodiment of the present application can mark the selected plot area and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected plot area , which can quickly complete the association between each drone and the selected plot area. Compared with the related technology, it needs to enter the independent interface of each drone to perform the association, which can greatly improve the convenience of operation. In addition, the association result between the drone and the selected plot area can be visually displayed, so that users can easily find association errors and reduce the occurrence of association errors.
  • a pending scheme for associating the drone with the selected plot area can be automatically generated, and the pending scheme can be displayed to the user, so that the user can It can be confirmed directly or only slightly adjusted, which is easier to operate.
  • the embodiment of the present application provides three strategies among them, which are a first strategy, a second strategy, and a third strategy, respectively.
  • the pending solution can be generated according to the nearest allocation principle. Specifically, according to the location information of each UAV and each selected plot area, the UAV with the closest distance can be associated with the selected plot area, and a corresponding undetermined plan can be generated.
  • the area of each selected plot area and the load capacity and endurance capacity of each UAV can be obtained.
  • the UAV and the selected plot can be compared Matching between areas, in the generated pending scheme, you can associate the successfully matched drone with the selected plot area.
  • the load capacity can be the weight that the UAV can load, or it can be characterized by the corresponding volume of the work box.
  • the selected land plot area with a larger area can be associated with the UAV with strong comprehensive load and endurance capacity, such as In an example, the largest area of the three selected plot areas is the selected plot area 1.
  • UAV A has the strongest combined load capacity and endurance ability.
  • Plot area 1 is associated with drone A. It is understandable that this matching method can reduce the number of UAV flight sorties and the number of interruptions of operations, and improve the operation efficiency.
  • the comprehensive capability of the UAV in terms of load and endurance can be characterized by a value obtained by weighted calculation of the UAV's load parameter and endurance parameter.
  • the crop information of each selected plot area and the medicine information of the medicine filled in the operation box of each drone can be obtained, and the drone and the selected land can be compared according to the crop information and the medicine information.
  • Matching of the block area, in the generated pending scheme you can associate the successfully matched drone with the selected block area.
  • the crop information can be input by the user when creating the plot area, or it can be determined according to the aerial image recognition of the drone.
  • the crop information may include information such as crop varieties, fertilizers and insect pests corresponding to the crop varieties, and crop density.
  • the drug information may be pre-input by the user, which may include information such as the category, name, and concentration of the drug. Since different crops can be sprayed with different medicines, the undetermined plan can be automatically generated according to the crop information of the selected plot area and the medicine information of the medicine filled in the drone operation box.
  • the three strategies may have their own applicable conditions, and the control terminal may judge the unmanned people in a preset order according to the three strategies. Whether the information of the machine and the selected plot area satisfies the applicable conditions of the strategy, after the applicable conditions of any strategy are determined to be satisfied, the subsequent strategy can no longer be judged, and the pending plan is generated according to the currently determined strategy that meets the applicable conditions. For example, if there are three selected plot areas and three drones, the order of judging the three strategies can be to judge the third strategy first, then judge the second strategy, and finally judge the first strategy. Specifically, the crop information of the three selected plot areas and the drug information loaded by the three drones can be obtained first.
  • the third strategy can be applied to generate a pending plan, otherwise, the area of the three selected plot areas and the load capacity and endurance of the three UAVs can be obtained to determine whether to apply the third strategy.
  • the judgment of the second strategy If the areas of the three selected plots are different and the load capacity and endurance of the three UAVs are also different (applicable conditions of the second strategy), the second strategy can be applied to generate a pending plan, otherwise, three UAVs can be obtained Based on the location information of the selected plot area and the three drones, the first strategy is applied to generate a pending plan.
  • the user may associate multiple drones with the same selected parcel area. For example, the user may need to perform multiple treatments on the same plot, such as fertilization and insect removal, then the user can spray pesticides on the plot with one drone, and spray fertilizer on the plot with another drone. Or, the user may need to quickly spray a large amount of drugs on a certain plot, and when the spray flow of one drone is insufficient, multiple drones can be used to spray the plot multiple times.
  • the association of the at least two drones with the same selected parcel area may be based on time to determine the sequence in which the at least two UAVs perform the operation tasks, so that the at least two UAVs can be controlled to perform the operation tasks according to the determined sequence. Since the sequence of operations of each UAV is determined before starting the operation, interference between multiple UAVs can be avoided, for example, the UAV of another operation is regarded as an obstacle to perform obstacle avoidance.
  • the UAV that performs the operation task later does not have to wait for the UAV that performs the operation task earlier to complete the operation before starting the operation.
  • the UAV that performs the operation task earlier flies to the designated waypoint on the route, the UAV that performs the operation task later can be controlled to start the operation.
  • the designated waypoint may be determined according to the safe distance that the at least two UAVs should maintain during the operation. The operation starts after the point, and the drones operating behind and the drones operating earlier can always maintain a safe distance during the operation, and there will be no risk of collision or interference.
  • the operation control method applied to the UAV provided by the embodiment of the present application can mark the selected plot area and the UAV icon on the map model, so that the user can directly operate the UAV icon or the selected plot area , which can quickly complete the association between each drone and the selected plot area. Compared with the related technology, it needs to enter the independent interface of each drone to perform the association, which can greatly improve the convenience of operation. In addition, the association result between the drone and the selected plot area can be visually displayed, so that users can easily find association errors and reduce the occurrence of association errors.
  • Fig. 5 is a schematic structural diagram of an operation control device applied to an unmanned aerial vehicle provided by an embodiment of the present application.
  • the apparatus may include: a processor 510 and a memory 520 storing a computer program, the processor implements the following steps when executing the computer program:
  • the selected plot area is identified on the map model;
  • the multiple drone icons include a first drone icon;
  • the plurality of drones includes a first drone corresponding to the first drone icon;
  • the first drone is controlled to perform an operation task in the first selected land area.
  • the processor when the processor obtains the user's operation on the first drone icon or the first selected plot area, the processor associates the first drone with the first selected plot. When the area is associated, it is used to obtain the user's touch and drag operations on the first drone icon. When the first drone icon is dragged to the area that overlaps with the first selected plot area When the position is released, the first drone is associated with the first selected parcel area.
  • the processor is further configured to: when the first drone icon is dragged to a position overlapping with the first selected plot area but is not released, The selected parcel area is highlighted.
  • the processor is further configured to, after the first drone icon is dragged to a position overlapping with the first selected plot area and released, remove the first drone icon. Return to the position before the drag operation.
  • the processor when displaying the association result, is configured to establish a connection line between the first drone icon and the first selected plot area.
  • the processor when the processor establishes a connection line between the first drone icon and the first selected parcel area, the processor is configured to: Links are established between job start points in the selected parcel area.
  • the processor when displaying the association result, is configured to display the serial number corresponding to the first drone on the first selected land block area.
  • the processor when the processor identifies a plurality of parcel areas on the map model, the processor is configured to identify, on the map model, a preset number of parcel areas that are closest to the control terminal.
  • the processor is further configured to, before identifying a plurality of parcel areas on the map model, determine the total parcel area according to the user's selection operation on the map model; if the total parcel area is If the area of the area is greater than a preset threshold, the total plot area is divided according to the number of UAVs currently connected to the control terminal to obtain a plurality of the plot areas.
  • the processor is further configured to, before acquiring the user's operation on the first drone icon or the first selected plot area, according to each selected plot area and each selected plot area. According to the location information of the UAV, a pending plan is generated that associates the closest UAV with the selected plot area, and the pending plan is displayed.
  • the processor is further configured to, before acquiring the user's operation on the first drone icon or the first selected plot area, according to the load capacity and endurance of each drone. capacity, and the area of each of the selected plot areas, match the drone with the selected plot area, and generate a pending plan for associating the successfully matched drone with the selected plot area , and the pending plans are displayed.
  • the processor is further configured to, when at least two drones are associated with the same selected plot area, according to the association time between the at least two drones and the same selected plot area. , and determine the sequence in which the at least two UAVs perform operation tasks.
  • the processor is further configured to control the UAV that performs the operation task later to start the operation when the UAV that performs the operation task earlier has flown to a designated waypoint on the route.
  • the designated waypoint is determined according to a safe distance that the at least two UAVs should maintain during the operation.
  • the processor is used to transmit the operation task data corresponding to the first selected plot area when controlling the first unmanned aerial vehicle to perform an operation task in the first selected plot area. to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle can automatically perform operations according to the operation task data.
  • the processor is further configured to acquire the user's operation on the drone icon or the dial on the control terminal, and switch to display status information and image transmission images of different drones.
  • the multiple drones are connected to the control terminal through different channels.
  • the drone includes a plant protection drone.
  • the operation control device applied to the drone provided by the embodiment of the present application can mark the selected plot area and the drone icon on the map model, so that the user can directly operate the drone icon or the selected plot area , which can quickly complete the association between each drone and the selected plot area. Compared with the related technology, it needs to enter the independent interface of each drone to perform the association, which can greatly improve the convenience of operation. In addition, the association result between the drone and the selected plot area can be visually displayed, so that users can easily find association errors and reduce the occurrence of association errors.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • the control terminal is used to control a plurality of UAVs to perform flight missions, and may include: a display device 610, an antenna device 620, a processor 630, and a memory 640 storing a computer program;
  • the antenna device is used for establishing communication with a plurality of unmanned aerial vehicles
  • the processor implements the following steps when executing the computer program:
  • the selected plot area is identified on the map model;
  • the multiple drone icons include a first drone icon;
  • the plurality of drones includes a first drone corresponding to the first drone icon;
  • the first drone is controlled to perform an operation task in the first selected land area.
  • the processor when the processor obtains the user's operation on the first drone icon or the first selected plot area, the processor associates the first drone with the first selected plot. When the area is associated, it is used to obtain the user's touch and drag operations on the first drone icon. When the first drone icon is dragged to the area that overlaps with the first selected plot area When the position is released, the first drone is associated with the first selected parcel area.
  • the processor is further configured to: when the first drone icon is dragged to a position overlapping with the first selected plot area but is not released, The selected parcel area is highlighted.
  • the processor is further configured to, after the first drone icon is dragged to a position overlapping with the first selected plot area and released, remove the first drone icon. Return to the position before the drag operation.
  • the processor when displaying the association result, is configured to establish a connection line between the first drone icon and the first selected plot area.
  • the processor when the processor establishes a connection line between the first drone icon and the first selected parcel area, the processor is configured to: Links are established between job start points in the selected parcel area.
  • the processor when displaying the association result, is configured to display the serial number corresponding to the first drone on the first selected land block area.
  • the processor when the processor identifies a plurality of parcel areas on the map model, the processor is configured to identify, on the map model, a preset number of parcel areas that are closest to the control terminal.
  • the processor is further configured to, before identifying a plurality of parcel areas on the map model, determine the total parcel area according to the user's selection operation on the map model; if the total parcel area is If the area of the area is greater than a preset threshold, the total plot area is divided according to the number of UAVs currently connected to the control terminal to obtain a plurality of the plot areas.
  • the processor is further configured to, before acquiring the user's operation on the first drone icon or the first selected plot area, according to each selected plot area and each selected plot area. According to the location information of the UAV, a pending plan is generated that associates the closest UAV with the selected plot area, and the pending plan is displayed.
  • the processor is further configured to, before acquiring the user's operation on the first drone icon or the first selected plot area, according to the load capacity and endurance of each drone. capacity, and the area of each of the selected plot areas, match the drone with the selected plot area, and generate a pending plan for associating the successfully matched drone with the selected plot area , and the pending plans are displayed.
  • the processor is further configured to, when at least two drones are associated with the same selected plot area, according to the association time between the at least two drones and the same selected plot area. , and determine the sequence in which the at least two UAVs perform operation tasks.
  • the processor is further configured to control the UAV that performs the operation task later to start the operation when the UAV that performs the operation task earlier has flown to a designated waypoint on the route.
  • the designated waypoint is determined according to a safe distance that the at least two UAVs should maintain during the operation.
  • the processor is used to transmit the operation task data corresponding to the first selected plot area when controlling the first unmanned aerial vehicle to perform an operation task in the first selected plot area. to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle can automatically perform operations according to the operation task data.
  • the processor is further configured to acquire the user's operation on the drone icon or the dial on the control terminal, and switch to display status information and image transmission images of different drones.
  • the multiple drones are connected to the control terminal through different channels.
  • the drone includes a plant protection drone.
  • the control terminal provided by the embodiment of the present application can mark the selected plot area and the drone icon on the map model, so that the user can directly operate the drone icon or the selected plot area, and quickly complete each drone.
  • the association result between the drone and the selected plot area can be visually displayed, so that users can easily find association errors and reduce the occurrence of association errors.
  • Embodiments of the present application provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the embodiments of the present application can be applied to a drone. method of job control.
  • Embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein.
  • Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • PRAM phase-change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • Flash Memory or other memory technology
  • CD-ROM Compact Disc Read Only Memory
  • CD-ROM Compact Disc Read Only Memory
  • DVD Digital Versatile Disc
  • Magnetic tape cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-

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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)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un procédé de commande de fonctionnement appliqué à un véhicule aérien sans pilote, comprenant : l'affichage d'un modèle de carte sur une interface d'affichage d'un terminal de commande, et l'identification de multiples zones de tracé et de multiples icônes de véhicule aérien sans pilote sur le modèle de carte (s202) ; selon une opération de sélection de l'utilisateur sur les multiples zones de tracé, le marquage des zones de tracé sélectionnées sur le modèle de carte (s204) ; l'obtention de l'opération de l'utilisateur sur une icône d'un premier véhicule aérien sans pilote ou une première zone de tracé sélectionnée, l'association du premier véhicule aérien sans pilote à la première zone de tracé sélectionnée, et l'affichage du résultat d'association (s206) ; et selon le résultat de l'association, la commande du premier véhicule aérien sans pilote pour effectuer une tâche d'opération dans la première zone de tracé sélectionnée (s208). Ainsi, le problème technique de fonctionnement peu pratique lorsque des véhicules aériens sans pilote sont associés à des zones de tracé est résolu.
PCT/CN2020/127459 2020-11-09 2020-11-09 Procédé et dispositif de commande de fonctionnement appliqués à un véhicule aérien sans pilote, et terminal de commande WO2022095014A1 (fr)

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PCT/CN2020/127459 WO2022095014A1 (fr) 2020-11-09 2020-11-09 Procédé et dispositif de commande de fonctionnement appliqués à un véhicule aérien sans pilote, et terminal de commande

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CN106408136A (zh) * 2016-10-26 2017-02-15 广州极飞科技有限公司 确定无人机航线的方法及装置
CN106483975A (zh) * 2016-10-26 2017-03-08 广州极飞科技有限公司 确定无人机航线的方法及装置
CN106502265A (zh) * 2016-10-26 2017-03-15 广州极飞科技有限公司 一种无人飞行器的航线生成方法和装置
CN106845710A (zh) * 2017-01-18 2017-06-13 北京艾森博航空科技股份有限公司 任务区自动分割方法及系统、航线规划方法及系统
CN108227746A (zh) * 2018-01-23 2018-06-29 深圳市科卫泰实业发展有限公司 一种无人机集群控制系统及方法
US20190212902A1 (en) * 2018-01-11 2019-07-11 Precision Planting Llc Systems and methods for customizing scale and corresponding views of data displays
CN111712773A (zh) * 2019-07-09 2020-09-25 深圳市大疆创新科技有限公司 一种无人机协同作业的控制方法、电子设备及系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106408136A (zh) * 2016-10-26 2017-02-15 广州极飞科技有限公司 确定无人机航线的方法及装置
CN106483975A (zh) * 2016-10-26 2017-03-08 广州极飞科技有限公司 确定无人机航线的方法及装置
CN106502265A (zh) * 2016-10-26 2017-03-15 广州极飞科技有限公司 一种无人飞行器的航线生成方法和装置
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CN108227746A (zh) * 2018-01-23 2018-06-29 深圳市科卫泰实业发展有限公司 一种无人机集群控制系统及方法
CN111712773A (zh) * 2019-07-09 2020-09-25 深圳市大疆创新科技有限公司 一种无人机协同作业的控制方法、电子设备及系统

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