WO2022262558A1 - Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé - Google Patents

Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé Download PDF

Info

Publication number
WO2022262558A1
WO2022262558A1 PCT/CN2022/095808 CN2022095808W WO2022262558A1 WO 2022262558 A1 WO2022262558 A1 WO 2022262558A1 CN 2022095808 W CN2022095808 W CN 2022095808W WO 2022262558 A1 WO2022262558 A1 WO 2022262558A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
uav
shooting
server
base station
Prior art date
Application number
PCT/CN2022/095808
Other languages
English (en)
Chinese (zh)
Inventor
石荣晔
盛镇醴
袁晶
Original Assignee
华为云计算技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为云计算技术有限公司 filed Critical 华为云计算技术有限公司
Publication of WO2022262558A1 publication Critical patent/WO2022262558A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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 field of computer technology, and in particular to a UAV scheduling method, system and related equipment.
  • 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.
  • 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.
  • each UAV base station is responsible for shooting tasks in a certain area.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the target drone 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.
  • 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.
  • the parking platform is provided with a card slot, and the card slot is used to fix the UAV parked on the parking platform.
  • the card slot is used to fix the UAV parked on the parking platform.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the aforementioned parking and shooting platform includes a shooting port
  • the target drone is specifically configured to: park on the target parking and shooting platform, and collect the image through the shooting port.
  • 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.
  • 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.
  • 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.
  • 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.
  • the server performs the above-mentioned first aspect or the first A method described in any possible implementation of the 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the server determines the target area.
  • 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.
  • 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.
  • the server determines the target UAV base station corresponding to the target area according to the target area.
  • 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.
  • 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.
  • 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.
  • 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.
  • the server generates a mission instruction, and sends the mission instruction to the target drone.
  • 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.
  • the server 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.
  • the target UAV 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.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the drone base station can dispatch drones to assist in shooting.
  • 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 corresponds to one or more UAV base stations, that is, the areas responsible for multiple UAV base stations can have overlapping parts.
  • 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.
  • the 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.
  • 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.
  • 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.
  • 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.
  • the server analyzes the images collected by the image collection devices in each shooting area, and determines the target image collection device.
  • 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.
  • 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 .
  • the server determines the target UAV and the target shooting point according to the target image acquisition device.
  • the target UAV is a UAV that replaces the failed target image acquisition device to collect images
  • 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.
  • 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.
  • 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.
  • the control module 120 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.
  • the target UAV base station 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.
  • the state information of the UAV in the UAV base station includes the execution state, standby state and charging state.
  • 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.
  • a UAV base station has a total of five UAVs. Currently, two UAVs are not in the UAV base station.
  • 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.
  • 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.
  • 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.
  • the server randomly selects one of the drones in the standby state as the target drone.
  • 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.
  • 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.
  • 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.
  • the server controls to issue a task instruction to the target UAV, so that the target UAV arrives at the target shooting point.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the target 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.
  • 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.
  • the control module 120 of the server 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.
  • 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.
  • 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.
  • FIG. 8 is a schematic diagram of a drone parked on a parking platform provided by an embodiment of the present application.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the target UAV 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.
  • 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.
  • the target UAV 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.
  • the server 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 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.
  • 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.
  • the server 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the wireless interface can be a cellular network interface or use Wireless LAN interface, etc.
  • 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.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM enhanced synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • serial link DRAM SLDRAM
  • 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.
  • 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.
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • 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.
  • 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.
  • 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.
  • the above-mentioned embodiments may be implemented in whole or in part by software, hardware, firmware or other arbitrary combinations.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé. Le système comprend un serveur et au moins une station de base de véhicule aérien sans pilote. Le serveur détermine une zone cible ; détermine, en fonction de la zone cible, une station de base de véhicule aérien sans pilote cible correspondant à la zone cible ; génère une instruction de tâche ; et envoie l'instruction de tâche à un véhicule aérien sans pilote cible dans la station de base de véhicule aérien sans pilote cible, l'instruction de tâche commandant au véhicule aérien sans pilote cible d'atteindre un emplacement de photographie cible pour exécuter une tâche de photographie pour la zone cible. Des stations de base de véhicule aérien sans pilote sont placées dans différentes zones ; chaque station de base de véhicule aérien sans pilote est responsable d'une tâche de photographie dans une certaine zone ; le serveur gère des véhicules aériens sans pilote dans les stations de base de véhicule aérien sans pilote dans les différentes zones ; lorsqu'une zone cible doit être photographiée, le serveur détermine une base de véhicule aérien sans pilote cible correspondante en fonction de la position de la zone cible, et envoie un véhicule aérien sans pilote dans la station de base de véhicule aérien sans pilote cible pour exécuter une tâche de photographie, de telle sorte qu'une répartition automatique et efficace d'un véhicule aérien sans pilote peut être obtenue lorsqu'une tâche de photographie doit être exécutée.
PCT/CN2022/095808 2021-06-17 2022-05-28 Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé WO2022262558A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110674580.2 2021-06-17
CN202110674580.2A CN115494857A (zh) 2021-06-17 2021-06-17 一种无人机调度方法、系统及相关设备

Publications (1)

Publication Number Publication Date
WO2022262558A1 true WO2022262558A1 (fr) 2022-12-22

Family

ID=84464015

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/095808 WO2022262558A1 (fr) 2021-06-17 2022-05-28 Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé

Country Status (2)

Country Link
CN (1) CN115494857A (fr)
WO (1) WO2022262558A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116430905B (zh) * 2023-06-12 2023-09-15 武汉能钠智能装备技术股份有限公司四川省成都市分公司 电子侦查一体机测控系统及方法
CN116736890B (zh) * 2023-08-11 2024-05-31 深圳星网信通科技股份有限公司 无人机的调度方法、调度系统及计算机可读存储介质

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105632236A (zh) * 2016-03-14 2016-06-01 南京邮电大学 基于无人机和云计算技术的小区车位管理引导系统和方法
CN106970639A (zh) * 2017-03-15 2017-07-21 武汉理工大学 一种基于无人机平台的港口实景监控系统及方法
CN209166421U (zh) * 2018-11-26 2019-07-26 济南绘福地理信息技术有限公司 一种无人机航拍测绘装置
US10380694B1 (en) * 2015-06-17 2019-08-13 State Farm Mutual Automobile Insurance Company Collection of crash data using autonomous or semi-autonomous drones
CN110132239A (zh) * 2019-05-09 2019-08-16 苏州嘉奕晟中小企业科技咨询有限公司 基于cors平台的无人机测绘方法
CN111275396A (zh) * 2020-01-19 2020-06-12 东南大学 基于无人机采集变更图斑照片的新方法
CN211087009U (zh) * 2019-12-17 2020-07-24 罗康 一种基于飞行器的接触网巡检装置
CN111951510A (zh) * 2020-08-24 2020-11-17 广州立信电子科技有限公司 一种基于大数据的林业防火智能巡检监测预警系统
CN112004025A (zh) * 2020-09-02 2020-11-27 广东电网有限责任公司 一种基于目标点云的无人机自动驾驶变焦方法、系统及设备
CN112449158A (zh) * 2020-11-13 2021-03-05 江苏久飞智能科技有限公司 一种巡检无人机用掠影式图像采集系统及方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10380694B1 (en) * 2015-06-17 2019-08-13 State Farm Mutual Automobile Insurance Company Collection of crash data using autonomous or semi-autonomous drones
CN105632236A (zh) * 2016-03-14 2016-06-01 南京邮电大学 基于无人机和云计算技术的小区车位管理引导系统和方法
CN106970639A (zh) * 2017-03-15 2017-07-21 武汉理工大学 一种基于无人机平台的港口实景监控系统及方法
CN209166421U (zh) * 2018-11-26 2019-07-26 济南绘福地理信息技术有限公司 一种无人机航拍测绘装置
CN110132239A (zh) * 2019-05-09 2019-08-16 苏州嘉奕晟中小企业科技咨询有限公司 基于cors平台的无人机测绘方法
CN211087009U (zh) * 2019-12-17 2020-07-24 罗康 一种基于飞行器的接触网巡检装置
CN111275396A (zh) * 2020-01-19 2020-06-12 东南大学 基于无人机采集变更图斑照片的新方法
CN111951510A (zh) * 2020-08-24 2020-11-17 广州立信电子科技有限公司 一种基于大数据的林业防火智能巡检监测预警系统
CN112004025A (zh) * 2020-09-02 2020-11-27 广东电网有限责任公司 一种基于目标点云的无人机自动驾驶变焦方法、系统及设备
CN112449158A (zh) * 2020-11-13 2021-03-05 江苏久飞智能科技有限公司 一种巡检无人机用掠影式图像采集系统及方法

Also Published As

Publication number Publication date
CN115494857A (zh) 2022-12-20

Similar Documents

Publication Publication Date Title
WO2022262558A1 (fr) Procédé et système de répartition de véhicules aériens sans pilote, et dispositif associé
CN105867181A (zh) 无人机的控制方法和装置
CN105700544A (zh) 一种无人机光伏电站电气设备巡检系统及实现方法
CN105259916A (zh) 无人飞行器的调度装置及其调度方法
CN112396277A (zh) 判图任务分配系统及用于判图任务分配的方法
CN106097714A (zh) 一种基于无人机的快速道路事件检测装置及检测方法
CN108171291A (zh) 一种基于无人机的巡检作业方法和系统
WO2023087599A1 (fr) Procédé et appareil d'inspection automatique de patrouille pour centre de données, dispositif et support
CN112947511A (zh) 一种无人机巡检风机叶片的方法
US10885797B2 (en) Methods and systems for managing drones with drone operating parameters
Woo et al. Auto charging platform and algorithms for long-distance flight of drones
WO2020189492A1 (fr) Dispositif de traitement d'informations et procédé de traitement d'informations
CN109360423B (zh) 一种基于云计算的交通违停巡检系统
CN114793239A (zh) 一种内河智能船舶域控制器功能实现的系统及方法
CN114637320A (zh) 根据历史故障数据确定巡检参数的电缆监测系统
KR20200071566A (ko) 복수의 드론을 위한 비행 예상 시각 결정을 위한 방법, 컴퓨터 장치, 및 컴퓨터 판독가능 기록 매체
CN108958286A (zh) 多旋翼飞行器云服务器网络系统及其控制方法
CN112183498A (zh) 一种基于动物识别的边缘计算系统
CN115542951B (zh) 基于5g网络的无人机集中管控方法、系统、设备及介质
US10466696B2 (en) Methods and systems for managing drones in regulated spaces
EP3919374B1 (fr) Procédé de capture d'image
CN110322701B (zh) 基于云平台的交通违停判断方法
CN109979209A (zh) 交通监控装置、方法、非易失性存储介质以及系统
CN205943077U (zh) 一种基于无人机的快速道路事件检测装置
US20200387180A1 (en) Flight control apparatus and flight control system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22824038

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22824038

Country of ref document: EP

Kind code of ref document: A1