WO2022262558A1 - Unmanned aerial vehicle dispatching method and system, and related device - Google Patents

Abstract

An unmanned aerial vehicle dispatching method and system, and a related device. The system comprises a server and at least one unmanned aerial vehicle base station. The server determines a target area; determines, according to the target area, a target unmanned aerial vehicle base station corresponding to the target area; generates a task instruction; and sends the task instruction to a target unmanned aerial vehicle in the target unmanned aerial vehicle base station, wherein the task instruction instructs the target unmanned aerial vehicle to reach a target photographing location to execute a photographing task for the target area. Unmanned aerial vehicle base stations are provided in different areas; each unmanned aerial vehicle base station is responsible for a photographing task in a certain area; the server manages unmanned aerial vehicles in the unmanned aerial vehicle base stations in the different areas; when a target area needs to be photographed, the server determines a corresponding target unmanned aerial vehicle base according to the position of the target area, and dispatches an unmanned aerial vehicle in the target unmanned aerial vehicle base station to execute a photographing task, so that automatic and efficient dispatching of an unmanned aerial vehicle can be realized when a photographing task needs to be executed.

Description

A UAV scheduling method, system and related equipment

This application claims the priority of the Chinese patent application with the application number 202110674580.2 and the application title "A UAV Scheduling Method, System and Related Equipment" submitted to the China Patent Office on June 17, 2021, the entire content of which is by reference incorporated in this application.

technical field

The present application relates to the field of computer technology, and in particular to a UAV scheduling method, system and related equipment.

Background technique

The in-depth development of traffic control, public safety, and visual management requires image or video collection. With the development of drone technology, drones are capable of image collection tasks in various environments, and drones are used as aerial photography tools. It has become a mainstream development direction at present. Therefore, how to efficiently schedule UAVs to meet the growing demand for shooting is an urgent problem to be solved.

Contents of the invention

The embodiment of the present application discloses a UAV scheduling method, system and related equipment. Through the management of the UAVs distributed in the UAV base stations in different areas through the server, it is possible to realize the monitoring of the UAV when it is necessary to perform a shooting task. Automatic and efficient scheduling.

In the first aspect, the embodiment of the present application provides a drone scheduling method, which is applied to a drone scheduling system. The drone scheduling system includes a server and at least one drone base station. The drone scheduling method includes:

The server determines the target area, and determines the target UAV base station corresponding to the target area according to the target area. The target UAV base station is one of the above-mentioned at least one UAV base station. The target UAV base station includes the target UAV. The man-machine is used to perform the shooting task for the above-mentioned target area; after the server determines the base station of the target drone, it generates a task instruction and sends the task instruction to the target drone, wherein the task instruction includes the location information of the target shooting point, The task instruction instructs the target UAV to arrive at the target shooting point to perform the shooting task of the target area.

By setting up UAV base stations in different areas, each UAV base station is responsible for shooting tasks in a certain area. When a target area needs to be photographed, the server determines a corresponding target UAV base according to the location of the target area. Then generate a task instruction including the target shooting point, and send the task instruction to the target UAV base station, so that the target UAV starts from the target UAV base station and arrives at the target shooting point to perform the shooting task of the target area. Deploy drones in drone base stations in different areas, manage drones in drone base stations in different areas through servers, and realize automatic and efficient scheduling of drones when shooting tasks need to be performed .

In a possible implementation, the UAV dispatching system also includes multiple image acquisition devices, and the server determines the target area, which specifically includes: the server acquires images collected by multiple image acquisition devices; , determine the target image acquisition device, and determine the target area corresponding to the target image acquisition device, where the target image acquisition device is a faulty image acquisition device.

When the UAV scheduling system includes multiple image acquisition devices, the multiple image acquisition devices are divided into multiple shooting areas, and the UAVs of each UAV base station can be used to replace the image acquisition equipment when the image acquisition device fails. A malfunctioning image capture device was taken. When an image acquisition device breaks down, the above-mentioned target area is determined according to the shooting area where the image acquisition device is located, that is, the target area is one of the above-mentioned multiple shooting areas, and then the corresponding target UAV base station is determined according to the target area.

In a possible implementation manner, the server generates the task instruction, including: the server determines the target shooting point corresponding to the target image acquisition device, and generates the task instruction according to the information of the target shooting point, wherein the target shooting point is replaced by an unmanned aerial vehicle The shooting position when the above-mentioned target image acquisition device executes the shooting task.

Each image acquisition device corresponds to one or more shooting points, and the server can determine the target shooting point corresponding to the target image acquisition device according to the correspondence between multiple image acquisition devices and multiple shooting points, and then generate Mission instructions that include information on the location of the target shooting point.

In a possible implementation manner, each image acquisition device among the plurality of image acquisition devices is configured with a corresponding parking platform, and the target shooting point is the target parking platform corresponding to the target image acquisition device;

The above-mentioned server generates a task instruction, and after sending the task instruction to the target UAV, it also includes: the server controls the target UAV to reach the target parking and shooting platform, so that the target UAV parks on the target parking and shooting platform to collect images.

By setting up a parking platform for each image acquisition device, it is used for parking the drone. After the target drone arrives at the target shooting point, it can stop on the parking platform to collect images without hovering over the target area, thereby reducing the power consumption of the drone and increasing the working hours of the drone.

In a possible implementation, the above-mentioned parking and shooting platform has a rotating part, and the rotating part is used to rotate under the control of the server; after the server controls the target UAV to reach the target parking and shooting platform, it also includes: Send an adjustment command, which is used to control the rotation of the parking platform to adjust the shooting angle of the target drone to meet the shooting requirements.

In a possible implementation manner, the parking platform is provided with a card slot, and the card slot is used to fix the UAV parked on the parking platform. By setting the card slot, the UAV can be fixed on the parking platform to prevent the UAV from shaking due to the wind, resulting in a decrease in the quality of the captured image, or changing the shooting angle due to sliding.

In a possible implementation manner, the above-mentioned parking and shooting platform includes a shooting port, and the shooting port is used for allowing the target drone to collect images through the shooting port. When the drone lands on the parking platform, the camera on the drone is located in the area of the shooting port to prevent the camera from being blocked by the parking platform when the drone is parked on the parking platform, so that the camera can obtain a larger shooting range.

In a possible implementation, the above-mentioned parking and shooting platform includes a charging device, which is used to charge the target drone when the target drone is parked on the target parking and shooting platform, so as to prolong the working time of the target drone. duration.

In a possible implementation manner, the above-mentioned server determines the target UAV base station corresponding to the target area according to the target area, including: the server determines the target area according to the correspondence between multiple UAV base stations and multiple shooting areas Corresponding one or more UAV base stations; among the above one or more UAV base stations, determine a UAV base station closest to the target area as the target UAV base station.

In the second aspect, the embodiment of the present application provides a UAV dispatching system, the UAV dispatching system includes a server and at least one UAV base station, wherein,

The server is used to determine the target area; according to the target area, determine the target UAV base station corresponding to the target area, wherein the target UAV base station is one of at least one UAV base station, and the target UAV base station includes the target UAV base station Man-machine and target drones are used to perform shooting tasks for target areas;

Generate mission instructions and send the mission instructions to the target UAV at the base station of the target UAV. The mission instructions include the location information of the target shooting point;

The target UAV is used to fly to the target shooting point according to the mission instruction, and perform the shooting task of the target area.

In a possible implementation manner, the above-mentioned unmanned aerial vehicle dispatching system also includes a plurality of image acquisition devices, and the above-mentioned server is specifically used to: acquire images collected by a plurality of image acquisition devices;

Determining a target image capture device according to images collected by multiple image capture devices, where the target image capture device is a faulty image capture device;

Determine the target area corresponding to the target image acquisition device.

In a possible implementation manner, the above-mentioned server is specifically used to: determine the target shooting point corresponding to the target image acquisition device, wherein the target shooting point is the shooting position when the drone performs the shooting task instead of the above-mentioned target image acquisition device; The information of the target shooting point generates the above task instructions.

In a possible implementation manner, each image acquisition device among the plurality of image acquisition devices is configured with a corresponding parking and shooting platform, and the target shooting point is the target parking and shooting platform corresponding to the target image acquisition device;

The target UAV is specifically used for: arriving at the target mooring platform according to the position information of the target mooring platform, and parking on the target mooring platform to collect images.

In a possible implementation manner, the above-mentioned parking platform has a rotating part, and the rotating part is used to rotate under the control of the server; the above-mentioned server is also used to: send an adjustment instruction to the target parking platform, and the adjustment instruction is used to control The shooting platform rotates to adjust the shooting angle of the target drone.

In a possible implementation manner, the above-mentioned parking platform is provided with a card slot, and the card slot is used to fix the unmanned aerial vehicle parked on the parking platform.

In a possible implementation manner, the aforementioned parking and shooting platform includes a shooting port, and the target drone is specifically configured to: park on the target parking and shooting platform, and collect the image through the shooting port.

In a possible implementation manner, the above-mentioned parking platform includes a charging device, and the charging device is used to charge the target drone when the target drone is parked on the target parking platform.

In a possible implementation manner, the server is specifically configured to: determine at least one UAV base station corresponding to the target area according to the correspondence between multiple UAV base stations and multiple shooting areas; In at least one UAV base station, a UAV base station closest to the target area is determined as the target UAV base station.

In the third aspect, the embodiment of the present application provides a UAV dispatching device, and the UAV dispatching device includes a module for performing operations performed by the server in the first aspect or any possible implementation of the first aspect.

In a fourth aspect, an embodiment of the present application provides a server, including a processor and a memory, the memory is used to store instructions, and the processor is used to execute the instructions. When the processor executes the instructions, the server performs the above-mentioned first aspect or the first A method described in any possible implementation of the aspect.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned first aspect or the above-mentioned first aspect The method described in any possible implementation.

In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product includes instructions, and when the computer program product is executed by a computer, the computer can execute the above-mentioned first aspect or any possible implementation of the above-mentioned first aspect method described in .

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that need to be used in the description of the embodiments. The drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a drone scheduling method provided by an embodiment of the present application.

Fig. 2 is a schematic structural diagram of another UAV dispatching system provided by an embodiment of the present application.

Fig. 3 is a schematic diagram of the system architecture of another unmanned aerial vehicle dispatching system provided by the embodiment of the present application.

Fig. 4 is a schematic flowchart of another UAV scheduling method provided by the embodiment of the present application.

Fig. 5 is a schematic diagram of an algorithm flow of a UAV dispatching system provided by an embodiment of the present application.

Fig. 6 is a schematic diagram of installation of a mooring platform provided by an embodiment of the present application.

Fig. 7 is a top view of a parking platform provided by an embodiment of the present application.

Fig. 8 is a schematic diagram of a drone parked according to an embodiment of the present application.

Fig. 9 is a schematic diagram of a card slot of a parking platform provided in an embodiment of the present application.

Fig. 10 is a schematic diagram of an unmanned aerial vehicle dispatching device provided by an embodiment of the present application.

FIG. 11 is a schematic structural diagram of a server provided by an embodiment of the present application.

detailed description

The image acquisition method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

An unmanned aerial vehicle dispatching system provided in an embodiment of the present application includes a server and at least one unmanned aerial vehicle base station. Among them, the server is located in the control center, and each UAV base station is deployed with one or more UAVs, and each UAV base station is responsible for the shooting task of an area. That is, when the server determines a target area that requires image acquisition, the target area can be photographed by the drone in the drone base station responsible for the target area. Specifically, as shown in FIG. 1 , FIG. 1 is a schematic flowchart of a drone scheduling method provided by an embodiment of the present application, and the drone scheduling method includes the following steps S101 to S103.

S101. The server determines the target area.

In the embodiment of the present application, the above-mentioned target area may be an area where the shooting location specified by the staff belongs, such as a location where a traffic accident occurs. The worker inputs the location information of the shooting location, and the server determines the target area according to the location information of the shooting location. Wherein, the target area is one of the multiple areas under the responsibility of the above-mentioned at least one UAV base station, and the location information of the shooting location may be the latitude and longitude coordinates of the shooting location.

S102. The server determines the target UAV base station corresponding to the target area according to the target area.

Wherein, the target drone base station is one of the above at least one drone base station. The server saves the area that each UAV base station is responsible for shooting. For example, each UAV base station is responsible for a rectangular area, and the server stores the location information of the rectangular area, such as the latitude and longitude coordinates of four points in the rectangular area. After the server determines the target area according to the location information of the shooting location, it determines that the target area corresponds to the target UAV base station. For example, the server sets the base station identification (identity, ID) for each drone base station, and sets the area ID for each area. The server stores the area and Correspondence between UAV base stations. After the server determines the area ID of the target area according to the location information of the shooting location, according to one or more UAV base stations associated with the area ID of the target area, determine a UAV base station closest to the shooting location as the target UAV base station.

S103. The server generates a mission instruction, and sends the mission instruction to the target drone.

Among them, the target UAV is the UAV in the target UAV base station, and the target UAV is used to perform the shooting task for the target area; the task instruction includes the position information of the target shooting point, and the task instruction instructs the target UAV to arrive at The target shooting point executes the shooting task of the target area, and the target shooting point is the shooting position when the target UAV performs the shooting task.

After determining the base station of the target drone, the server selects the available drones in the base station of the target drone as the target drone, and sends the mission instruction to the target drone. After receiving the above task instructions sent by the server, the target UAV flies to the target shooting point to take pictures according to the location information of the target shooting point, and sends the captured image to the server through the target UAV base station.

As shown in Figure 2, Figure 2 is a schematic diagram of the architecture of an unmanned aerial vehicle dispatching system provided by an embodiment of the present application. The system includes a server, multiple unmanned aerial vehicles, and multiple image acquisition devices, wherein the server is located in the control center, Multiple UAVs are deployed in one or more UAV base stations, and multiple image acquisition devices are deployed in one or more shooting areas. Each shooting area includes one or more image acquisition devices, one or more UAVs are parked in each UAV base station, and each UAV has an onboard image acquisition device. When the server cannot acquire an image acquired by an image acquisition device in the shooting area or the quality of the acquired image is poor, the server confirms that the image acquisition device is faulty. The server determines the UAV base station that is closer to the shooting area where the image acquisition device is located, and dispatches a UAV from the UAV base station to the faulty image acquisition device. The image of the area captured by the faulty image acquisition device is captured and transmitted to the server.

In the embodiment of the present application, the above-mentioned control center may be a cloud service platform, that is, the server is deployed on the cloud, and a large number of basic resources provided by the cloud service provider are deployed on the cloud. For example, computing resources, storage resources, and network resources, etc., and the computing resources may be a large number of computing devices (such as servers). The cloud service platform provides cloud services for UAV scheduling, and the above-mentioned server uses the basic resources deployed in the cloud to implement the UAV scheduling method provided in the embodiment of the present application. The above-mentioned control center may also be an independent management and control platform, such as a traffic management center, which is not specifically limited in this embodiment of the present application.

As shown in Figure 2, each UAV base station corresponds to multiple shooting areas, that is, the area that each UAV base station is configured to be responsible for includes multiple shooting areas in its vicinity, and any shooting area in these multiple shooting areas When the image acquisition equipment fails, the drone base station can dispatch drones to assist in shooting. For example, in Fig. 2, UAV base station 1 is responsible for shooting area A to shooting area D, and any shooting area from shooting area A to shooting area D fails, and UAV base station 1 can dispatch the drone to the faulty area. Location assistance for shooting. Each shooting area corresponds to one or more UAV base stations, that is, the areas responsible for multiple UAV base stations can have overlapping parts. When the image acquisition equipment in one shooting area fails, multiple UAV base stations can report The shooting area dispatches drones to assist in shooting. For example, in Figure 2, the shooting area D is located in the corresponding UAV base station 1 and UAV base station 2, then when the image acquisition device in the shooting area D fails, the server selects one from the UAV base station 1 and the UAV base station 2 Send the drone to the shooting area D.

It should be noted that when the above-mentioned server cannot obtain an image collected by an image acquisition device, it may be that the image acquisition device fails to capture images, the camera of the image acquisition device is blocked, or the captured image cannot be sent out, or the The transmission line between the image acquisition device and the server fails and the image cannot be sent to the server. Poor image quality may be affected by light, or the image may be disturbed during transmission. In this embodiment of the present application, for the convenience of description, when the server cannot acquire an image acquired by an image acquisition device or the quality of the acquired image is poor, it is described as a failure of the image acquisition device.

Fig. 3 is a schematic diagram of the system architecture of another unmanned aerial vehicle dispatching system provided by the embodiment of the present application. The server of the control center includes a fault judgment module 110 , a control module 120 and a communication module 130 . The failure judgment module 110 is used to obtain the images collected by each image acquisition device in the shooting area, and determine the image acquisition device that has failed; The nearer UAV base station then sends a task instruction including the above location information to the UAV base station through the communication module 130, and dispatches the UAV from the UAV base station to the location indicated by the location information for auxiliary shooting.

Each drone base station includes a standby and charging platform 210 and a communication module 220 . One or more unmanned aerial vehicles are deployed on the standby and charging platform 210 , and the standby and charging platform 210 is used for taking off and landing of the unmanned aerial vehicles, charging the unmanned aerial vehicles and protecting the unmanned aerial vehicles. For example, the standby and charging platform 210 includes a protective cover, which is in a closed state under normal conditions to protect the drone from rain, etc., and is opened when the drone lands or takes off; the standby and charging platform 210 also includes a dispatcher. The module is used to send mission instructions to the UAV, and to feed back the status of the UAV to the server, such as the UAV that performs the mission has taken off, the number of remaining UAVs in the UAV base station, etc. The communication module 220 is used for receiving the instruction sent by the server, and communicating with the UAV in performing the task. For example, send the control command of the server to the UAV, so that the UAV performs the corresponding operation according to the control command; or send the image collected by the UAV to the server, etc. Wherein, the communication module 220 includes a wireless communication module and a wired communication module. The UAV base station communicates with the UAV through the wireless communication module, and communicates with the control center through the wired communication module or the wireless communication module. The images collected by the man-machine are transmitted to the server through the wired communication module.

Fig. 4 is a schematic flowchart of another UAV scheduling method provided by the embodiment of the present application, the image acquisition method includes S301 to S304.

S301. The server analyzes the images collected by the image collection devices in each shooting area, and determines the target image collection device.

The above-mentioned target image acquisition device is a faulty image acquisition device. As shown in FIG. 5 , FIG. 5 is a schematic flowchart of an algorithm flow of an unmanned aerial vehicle dispatching system provided by an embodiment of the present application. The fault judgment module 110 of the server acquires and analyzes the images collected by the image acquisition devices in each shooting area. For an image acquisition device, the fault judgment module 110 of the server obtains the images collected by the image acquisition device at the current moment every preset time length, and judges Whether the image collected by the image acquisition device meets the requirements, if the fault judgment module 110 cannot obtain the image collected by the image acquisition device, or determines that the image quality is lower than the preset quality, etc., then the fault judgment module 110 determines that the image acquisition device appears fault, send the device identifier of the faulty image acquisition device to the control module 120 .

S302. The server determines the target UAV and the target shooting point according to the target image acquisition device.

Wherein, the target UAV is a UAV that replaces the failed target image acquisition device to collect images, and the target shooting point is the position where the target UAV replaces the target image acquisition device for shooting.

The server in the control center stores the corresponding relationship between the shooting area and the image acquisition device, the corresponding relationship between the shooting area and the UAV base station, and the corresponding relationship between the image acquisition device and the shooting point. Wherein, the shooting point refers to the shooting position where the UAV replaces the failed image acquisition device to collect images when an image acquisition device fails. The corresponding relationship between the shooting area and the image acquisition equipment includes the image acquisition equipment included in each shooting area; the corresponding relationship between the shooting area and the UAV base station includes one or more UAV base stations corresponding to each shooting area. The correspondence between the man-machine base station indicates the base station used to dispatch the drone to the shooting area when the image acquisition device in a shooting area fails.

Exemplarily, the server saves the corresponding relationship between the shooting area and the image acquisition device in the way that one shooting area ID is associated with the device ID of one or more image acquisition devices; the server associates one or more drones with one shooting area ID The way of the base station ID of the base station saves the corresponding relationship between the shooting area and the UAV base station; the server saves the corresponding relationship between the image acquisition device and the shooting point by associating one or more shooting point IDs with a device ID.

After receiving the device ID of the target image capture device, the control module 120 first determines the target shooting point ID corresponding to the device ID of the target image capture device according to the correspondence between the device ID and the shooting point ID, wherein the target shooting point ID Indicates the target shooting point above. Then, according to the corresponding relationship between the shooting area and the image acquisition device, determine the target area to which the target image acquisition device belongs, and according to the corresponding relationship between the shooting area and the UAV base station, determine one or more UAV base stations corresponding to the target area, and then A target drone base station is determined from the one or more drone base stations. For example, take the UAV base station closest to the target area as the target UAV base station; and determine a target UAV from the target UAV base station, and the target UAV will be dispatched to the above-mentioned target shooting point A drone that captures images in place of a malfunctioning image capture device.

The server also saves the status information of the drones in each drone base station. Among them, the state information of the UAV in the UAV base station includes the execution state, standby state and charging state. Among them, the execution state indicates that the UAV is performing a shooting task and is not in the UAV base station; The drone is in the base station of the drone and is fully charged; the charging status indicates that the drone is charging. For example, a UAV base station has a total of five UAVs. Currently, two UAVs are not in the UAV base station. They are performing collection tasks in the shooting area and are in the execution state; If the duration of the drone base station is less than the preset duration, it means that the drone is still charging and is in the charging state; if the two drones are charged and are in the standby state, it means that the number of available drones is currently two.

When the control module 120 determines a target UAV from one or more UAV base stations corresponding to the target area, according to the state information of the UAV in the one or more UAV base stations, determine a currently available UAV. The target UAV base station of the drone, and determine a UAV as the target UAV from the UAVs in the standby state in the UAV base station. For example, the target UAV base station includes 10 UAVs with UAV IDs 1 to 10, among which UAVs with IDs 1 to 5 are in the task execution state, and UAVs with IDs 6 to 8 are in the charging state. , and the rest of the drones are in the standby state, the server randomly selects one of the drones in the standby state as the target drone.

In a possible implementation, each shooting area corresponds to at least two UAV base stations, so as to prevent that when one shooting area only corresponds to one UAV base station, the image acquisition device in one shooting area fails, and the shooting area The corresponding drone base station does not have a drone available. When a shooting area corresponds to at least two UAV base stations, according to the distance between the UAV base station and the shooting area, set the priority of the UAV base station corresponding to the shooting area, and the UAV base station that is closer to the base station The higher the priority. When the image acquisition equipment in the shooting area fails, the UAV will be dispatched from the UAV base station with high priority to the shooting area to perform tasks.

S303. The server controls to issue a task instruction to the target UAV, so that the target UAV arrives at the target shooting point.

After the control module 120 determines the target UAV base station, the target UAV and the target shooting point, it sends a task instruction to the target UAV base station through the communication module 130, and the task instruction includes the distance between the above-mentioned target shooting point and the target UAV. Human-machine ID. After the communication module 220 of the UAV base station receives the above task instruction, it sends the task instruction to the standby and charging platform 210 . The standby and charging platform 210 transmits the task instruction to the target drone according to the ID of the drone, and the target drone flies to the target shooting point according to the target shooting point.

It can be understood that the above task instructions may also include navigation information, and the target UAV can reach the target location according to the above navigation information; or, the target UAV can fly to the above target location according to the route planned by the target shooting point.

In a possible implementation, after the UAV arrives at the target shooting point, it needs to hover over the target shooting point to take pictures, so the above mission instruction also includes height information, which is used to indicate that the target drone arrives at the target shooting point The hover height.

In a possible implementation, each image acquisition device is correspondingly equipped with a parking platform for the UAV to park, and when the UAV is parked on the mooring platform, the onboard image acquisition device on the UAV can The captured area includes the area captured by the image acquisition device corresponding to the mooring platform, or the overlapping area between the area captured by the camera on the UAV and the area captured by the image acquisition device corresponding to the mooring platform is greater than a preset ratio. After the target drone arrives at the target shooting point, it can stop on the parking platform to collect images without hovering over the target area, thereby reducing the power consumption of the drone and increasing the working hours of the drone.

When the image acquisition device is provided with a corresponding mooring platform, the above shooting point ID is the platform ID of the mooring platform, that is, the corresponding relationship between the device ID and the platform ID is stored in the server, and the platform ID is used to indicate the location information of the mooring platform , including the latitude and longitude coordinates and height of the mooring platform. After receiving the device ID of the target image capture device sent by the fault judgment module 110, the control module 120 of the server determines the platform ID of the target parking platform corresponding to the device ID of the target image capture device. The above-mentioned target shooting point is the target shooting platform, and the location information in the above-mentioned task instruction is the location information of the target shooting platform. It can be understood that the parking and shooting platform can be installed on the infrastructure near the image acquisition device through a supporting structure, as shown in FIG. The embodiment of the present application does not specifically limit the facility where the image acquisition device is installed.

Optionally, as shown in FIG. 7, FIG. 7 is a top view of a parking shooting platform provided in the embodiment of the present application. The above parking shooting platform is provided with a shooting port. The camera on the aircraft is located in the area of the shooting port to prevent the camera from being blocked by the parking platform when the drone is parked on the shooting platform, so that the camera can obtain a larger shooting range.

Optionally, as shown in FIG. 8, FIG. 8 is a schematic diagram of a drone parked on a parking platform provided by an embodiment of the present application. There is a card slot on the parking platform, and the card slot is used to fix the drone. The card slot of the parking platform is designed according to the number and structure of the drone's support legs, so that the card slot can fix the drone through the drone's support legs. For example, if the UAV includes four UAV support feet, four card slots are set on the parking platform. Fix the drone on the parking platform. As shown in Figure 9, Figure 9 is a schematic diagram of a card slot and a UAV support foot. The card slot is an inverted cone structure and the inner wall is smooth, which is convenient for the UAV support foot to enter, and a magnet is arranged in the card slot; The bracket feet contain metal materials and include electromagnet components. After the drone lands, each bracket foot is located in each card slot. The magnets in the slots will attract the drone bracket feet of metal materials to fix the drone. On the parking platform; when the UAV takes off, the UAV can energize the electromagnet components to generate repulsive force, so that the UAV support feet are out of the slot. By setting the card slot, the UAV can be fixed on the parking platform to prevent the UAV from shaking due to the wind, resulting in a decrease in the quality of the captured image, or changing the shooting angle due to sliding. It should be understood that the structure of the above-mentioned UAV support feet and card slots is only an example, and should not be understood as a specific limitation. In actual use, the UAV can be fixed on the parking platform after landing, and can be When the UAV can break away from the UAV bracket foot structure and the slot structure can be used.

Optionally, the above-mentioned parking and shooting platform may also include a charging device, such as a wireless charging device. The drone lands on the parking and shooting platform to collect images. When the battery power of the drone is lower than a preset value, it can The charging device on the drone can be charged to prolong the working hours of the drone.

S304. The server acquires the image taken by the target UAV, and adjusts the shooting angle of the camera according to the image taken by the target UAV.

After the target UAV reaches the shooting point in the target area, it collects images by hovering or parked on the parking platform to collect images, and transmits the images to the target UAV base station through wireless communication. The wireless communication of the target UAV base station After the communication module receives the image, it transmits the image to the server in the control center through the wireless communication module or the wired communication module. The staff of the control center compares the images taken by the target UAV with the images taken by the faulty image acquisition equipment. If it is determined that the images collected by the target UAV do not meet the requirements, for example, the area captured by the target UAV and the faulty image The area captured by the acquisition equipment is quite different, or the image collected by the target UAV is unclear due to interference such as light, the staff sends a control command to the target UAV base station through the control module 120, and the target UAV base station receives the control command After that, the control command is sent to the target UAV, and the target UAV adjusts the shooting angle according to the received control command to make the captured image meet the requirements. Make the area photographed by the airborne image acquisition equipment on the UAV include the area photographed by the image acquisition equipment that has failed, or make the difference between the area photographed by the airborne image acquisition equipment on the UAV and the area photographed by the image acquisition equipment that has failed The overlapping area is larger than the preset ratio.

In a possible implementation manner, the above-mentioned parking and shooting platform can be rotated to adjust the direction of the above-mentioned shooting port, so as to adjust the shooting angle of the UAV. After the server receives the image collected by the UAV, it displays the image on the screen of the control center or on the equipment of the controller. If the area of the image collected by the UAV cannot meet the requirements, the controller can control the horizontal rotation of the parking platform to Adjust the shooting angle of the target drone so that the target drone can capture images that meet the requirements.

When the target UAV is performing a shooting task, it sends the collected image to the target UAV base station through the wireless communication module, and the target UAV base station sends the image to the control center through the wireless communication module or wired communication module for storage. When the target UAV receives the task termination command issued by the server or the remaining power of the target UAV is less than the preset power threshold, the target UAV returns to the target UAV base station. In a possible implementation, when the remaining power of the target UAV is less than the preset power threshold, the target UAV sends a return request to the server, and the return request is used to indicate to the server that the remaining power of the target UAV is less than the preset power threshold. Set the power threshold. After receiving the above-mentioned return request, the server sends a response message to the target UAV, and the target UAV returns to the target UAV base station after receiving the above-mentioned response message. After receiving the above-mentioned return request, the server selects another drone from the base station of the target drone, and sends a mission instruction to the drone to take over the target drone and continue to perform the shooting task.

The above embodiment describes the scheduling process of the UAV scheduling system when the image acquisition equipment in the shooting area fails. In a possible implementation manner, the target area to be photographed by the UAV may be a temporary location designated by a staff member, such as a location where a traffic accident occurs. The staff inputs the location information of the target area, and after the server obtains the location information of the target area, the server determines n target shooting points from the existing shooting points according to the location information of the target area, so that the shooting area of the n target shooting points The sum of is able to cover the target area mentioned above. According to the shooting area to which each target shooting point belongs among the n target shooting points, the server determines the target unmanned person corresponding to each shooting area in the shooting area to which each target shooting point belongs in combination with the corresponding relationship between the shooting area and the UAV base station. The base station of the target drone is the target drone base station used in the target area; the server determines a target drone from each target drone base station, and then sends mission instructions to each determined target drone, so that each The target UAV flies to the above n shooting points respectively to take pictures. If the server cannot obtain n target shooting points where the shooting area covers the target area according to the above target area, then determine the shooting area closest to the target area according to the distance between the target area and the existing shooting area, and combine the above shooting areas The corresponding relationship with the UAV base station is to determine the UAV base station corresponding to the shooting area closest to the target area, and use the UAV base station as the target UAV base station. The server generates a task instruction and sends the task instruction to the The target drone of the target drone base station, after receiving the mission instruction, the target drone flies to the target shooting point according to the position information of the target area in the mission instruction to perform the shooting task of the target area.

It should be noted that, for the above-mentioned method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Secondly, Those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the present invention.

Other reasonable step combinations conceivable by those skilled in the art based on the above description also fall within the protection scope of the present invention. Secondly, those skilled in the art should also be familiar with that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the present invention.

The UAV scheduling system and the UAV scheduling method provided according to the embodiment of the present application are described in detail above in conjunction with FIG. 1 to FIG. Machine scheduling related devices and equipment. Referring to FIG. 10, FIG. 10 is a schematic structural diagram of a UAV dispatching device provided by an embodiment of the present application. The UAV dispatching device 900 includes: a fault judgment module 110, a control module 120 and a communication module 130, wherein,

The fault judgment module 110 is used to obtain the shooting location information, for example, obtain the location information of the shooting location input by the staff in the above S101; or analyze the images collected by the image acquisition equipment in each shooting area in the above S301 to determine the target image acquisition equipment, Wherein, the target image acquisition device is a faulty image acquisition device.

The control module 120 is used to determine the base station of the target UAV, the target UAV, and the target shooting point, etc., and generate a mission instruction including the target shooting point. Specifically, the operations performed by the control module 120 may refer to related operations in the foregoing method embodiments, for example, the operations performed by the control module 120 in the embodiment shown in FIG. 4 .

The communication module 130 is configured to send instructions including the above tasks to the target UAV base station.

Specifically, the method for implementing drone scheduling by the drone scheduling device 900 may refer to the operations performed by the server in FIG. 1 or FIG. 4 in the above method embodiment, and details are not repeated here.

Referring to FIG. 11, FIG. 11 is a schematic structural diagram of a server provided in an embodiment of the present application. The server 100 includes: one or more processors 210, a communication interface 220, and a memory 230, and the processor 210, a communication interface 220, and a memory 230 interconnected by bus 240, where,

The specific implementation of various operations performed by the processor 210 may refer to the specific operations of the fault judgment module 210 and the control module 220 in the above server. For example, the processor 210 is configured to perform the operations described in S101 to S103 in FIG. 1 above, or to perform related operations in S301 to S304 in FIG. 4 , which will not be repeated here.

The processor 210 can have multiple specific implementation forms, for example, the processor 210 can be a central processing unit (central processing unit, CPU) or an image processor (graphics processing unit, GPU), and the processor 210 can also be a single-core processor or multi-core processor. The processor 210 may be a combination of a CPU and a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (application-specific integrated circuit, ASIC), a programmable logic device (programmable logic device, PLD) or a combination thereof. The aforementioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), a general array logic (generic array logic, GAL) or any combination thereof. The processor 210 may also be implemented solely by a logic device with built-in processing logic, such as an FPGA or a digital signal processor (digital signal processor, DSP).

The communication interface 220 can be a wired interface or a wireless interface for communicating with other modules or devices. The wired interface can be an Ethernet interface, a local interconnect network (LIN), etc., and the wireless interface can be a cellular network interface or use Wireless LAN interface, etc. In the embodiment of the present application, the communication interface 220 may specifically be used to receive the image captured by the image acquisition device in S301 above, or the image captured by the drone in S304.

Memory 230 can be nonvolatile memory, for example, read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), Electrically Erasable Programmable Read-Only Memory (electrically EPROM, EEPROM) or flash memory. The memory 230 can also be a volatile memory, and the volatile memory can be a random access memory (random access memory, RAM), which is used as an external cache. By way of illustration and not limitation, many forms of RAM are available such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (synchlink DRAM, SLDRAM ) and direct memory bus random access memory (direct rambus RAM, DR RAM).

The memory 230 can be used to store program codes and data, so that the processor 210 can call the program codes stored in the memory 230 to execute the operation steps for realizing drone scheduling in the above method embodiments. In addition, the server 100 may contain more or fewer components than those shown in FIG. 11 , or have different configurations of the components.

The bus 240 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus or the like. The bus 240 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 11 , but it does not mean that there is only one bus or one type of bus.

Optionally, the server 100 may further include an input/output interface 250 connected with an input/output device for receiving input information and outputting operation results.

Specifically, for the implementation of various operations performed by the above server 100, reference may be made to the specific operations performed by the server in FIG.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores instructions, and when it runs on the processor, it can implement the method steps in the above-mentioned method embodiments, and the computer can For the specific implementation of the processor reading the storage medium executing the above method steps, reference may be made to the specific operations of the above method embodiments, which will not be repeated here.

In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The above-mentioned embodiments may be implemented in whole or in part by software, hardware, firmware or other arbitrary combinations. When implemented using software, the above-described embodiments may be implemented in whole or in part in the form of computer program products. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on the computer, the processes or functions according to the embodiments of the present invention will be generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (eg, coaxial cable, optical fiber, DSL) or wireless (eg, infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more sets of available media. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tape), optical media, or semiconductor media. The semiconductor medium may be a solid state drive (SSD).

The steps in the method of the embodiment of the present application can be adjusted in order, merged or deleted according to actual needs; the modules in the device of the embodiment of the present application can be divided, combined or deleted according to actual needs.

The embodiments of the present application have been introduced in detail above, and specific examples have been used in this paper to illustrate the principles and implementation methods of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; meanwhile, for Those skilled in the art will have changes in specific implementation methods and application scopes based on the ideas of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims (21)

1. A UAV scheduling method, characterized in that the method is applied to a UAV scheduling system, the UAV scheduling system includes a server and at least one UAV base station, and the method includes:

   the server determines a target area;

   The server determines the target UAV base station corresponding to the target area according to the target area, the target UAV base station is one of the at least one UAV base station, and the target UAV base station Including a target drone, the target drone is used to perform a shooting task for the target area;

   The server generates a mission instruction, and sends the mission instruction to the target UAV, the mission instruction includes position information of the target shooting point, and the mission instruction instructs the target UAV to arrive at the target UAV. point to perform the photographing task on the target area.
2. The method according to claim 1, wherein the UAV dispatching system also includes a plurality of image acquisition devices, and the server determines the target area, specifically including:

   The server obtains images collected by the plurality of image collection devices;

   The server determines a target image acquisition device according to the images collected by the plurality of image acquisition devices, and the target image acquisition device is a faulty image acquisition device;

   The server determines the target area corresponding to the target image acquisition device.
3. The method according to claim 2, wherein the server generates task instructions, comprising:

   The server determines the target shooting point corresponding to the target image acquisition device, wherein the target shooting point is the shooting position when the UAV performs the shooting task instead of the target image acquisition device;

   The server generates the task instruction according to the information of the target shooting point.
4. The method according to claim 2 or 3, wherein each image acquisition device in the plurality of image acquisition devices is configured with a corresponding parking platform, and the target shooting point is corresponding to the target image acquisition device. The target parking and shooting platform;

   The method also includes:

   The server controls the target drone to arrive at the target parking platform, so that the target drone parks on the target parking platform to collect images.
5. The method according to claim 4, wherein the parking platform has a rotating part, and the rotating part is used to rotate under the control of the server;

   The method also includes:

   The server sends an adjustment instruction to the target parking platform, and the adjustment instruction is used to control the rotation of the target parking platform to adjust the shooting angle of the target drone.
6. The method according to claim 4 or 5, wherein the parking platform is provided with a card slot, and the card slot is used to fix the UAV parked on the parking platform.
7. The method according to any one of claims 4 to 6, wherein the parking and shooting platform includes a shooting port, and the shooting port is used to allow the target drone to collect images through the shooting port.
8. The method according to any one of claims 4 to 7, wherein the parking platform includes a charging device, and the charging device is used to charge the target drone when the target drone is parked on the target parking platform. The target UAV is charged.
9. The method according to any one of claims 1 to 8, wherein the server determines the target UAV base station corresponding to the target area according to the target area, including:

   The server determines one or more UAV base stations corresponding to the target area according to the correspondence between the plurality of UAV base stations and the plurality of shooting areas;

   The server determines a UAV base station closest to the target area among the one or more UAV base stations as the target UAV base station.
10. A UAV dispatching system, characterized in that the UAV dispatching system includes a server and at least one UAV base station, wherein,

    The server is used to determine the target area;

    According to the target area, determine the target UAV base station corresponding to the target area, the target UAV base station is one of the at least one UAV base station, and the target UAV base station includes a target UAV base station. man-machine, the target unmanned aerial vehicle is used to perform the shooting task for the target area;

    Generate a mission instruction, and send the mission instruction to the target UAV at the target UAV base station, where the mission instruction includes the position information of the target shooting point;

    The target unmanned aerial vehicle is configured to fly to the target shooting point according to the mission instruction, and execute the shooting task of the target area.
11. The UAV scheduling system according to claim 10, wherein the UAV scheduling system also includes a plurality of image acquisition devices, and the server is specifically used for:

    acquiring images collected by the plurality of image acquisition devices;

    Determining a target image capture device according to the images collected by the plurality of image capture devices, where the target image capture device is an image capture device that has failed;

    A target area corresponding to the target image acquisition device is determined.
12. The unmanned aerial vehicle scheduling system according to claim 11, wherein the server is specifically used for:

    Determining the target shooting point corresponding to the target image acquisition device, wherein the target shooting point is the shooting position when the UAV performs the shooting task instead of the target image acquisition device;

    The task instruction is generated according to the information of the target shooting point.
13. The unmanned aerial vehicle dispatching system according to claim 11 or 12, characterized in that, each image acquisition device in the plurality of image acquisition devices is configured with a corresponding parking and shooting platform, and the target shooting point is the target The target parking platform corresponding to the image acquisition device;

    The target UAV is specifically used for:

    Arriving at the target parking camera platform according to the position information of the target parking camera platform, and parking on the target parking camera platform to collect images.
14. The unmanned aerial vehicle scheduling system according to claim 13, wherein the parking platform has a rotating part, and the rotating part is used to rotate under the control of the server;

    The server is also used to:

    An adjustment instruction is sent to the target parking platform, and the adjustment instruction is used to control the rotation of the target parking platform to adjust the shooting angle of the target drone.
15. The unmanned aerial vehicle scheduling system according to claim 13 or 14, wherein the parking platform is provided with a card slot, and the card slot is used to fix the unmanned aerial vehicle parked on the parking platform.
16. According to the unmanned aerial vehicle dispatching system described in any one of claims 13 to 15, it is characterized in that the parking and shooting platform includes a shooting port, and the target drone is specifically used for: parking on the target parking and shooting platform , collecting the image through the shooting port.
17. According to the unmanned aerial vehicle dispatching system described in any one of claims 13 to 16, it is characterized in that the parking platform includes a charging device, and the charging device is used to park the target drone on the target parking platform , charge the target drone.
18. The unmanned aerial vehicle dispatching system according to any one of claims 10 to 17, wherein the server is specifically used for:

    According to the corresponding relationship between the plurality of UAV base stations and the plurality of shooting areas, determine one or more UAV base stations corresponding to the target area;

    The server determines a UAV base station closest to the target area among the one or more UAV base stations as the target UAV base station.
19. A UAV dispatching device, characterized in that the UAV dispatching device includes a module for executing the operations performed by the server in any one of claims 1 to 9.
20. A server, characterized in that it includes a processor and a memory, the memory is used to store instructions, the processor is used to execute the instructions, and when the processor executes the instructions, the server according to claim 1 is executed. The method executed by the server in any one of to 9.
21. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the server according to any one of claims 1 to 9 method of execution.

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