WO2023025197A1 - 无人机管理控制方法、飞行控制方法、管理平台和机巢 - Google Patents

无人机管理控制方法、飞行控制方法、管理平台和机巢 Download PDF

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Publication number
WO2023025197A1
WO2023025197A1 PCT/CN2022/114554 CN2022114554W WO2023025197A1 WO 2023025197 A1 WO2023025197 A1 WO 2023025197A1 CN 2022114554 W CN2022114554 W CN 2022114554W WO 2023025197 A1 WO2023025197 A1 WO 2023025197A1
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Prior art keywords
nest
drone
uav
task
flight
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PCT/CN2022/114554
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English (en)
French (fr)
Inventor
蒙露璐
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023025197A1 publication Critical patent/WO2023025197A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a management and control method for unmanned aerial vehicles, a flight control method, a management platform, a nest and a storage medium.
  • the UAV management platform is a platform for managing the flight tasks of UAVs. It is usually used to create UAV missions and send them to UAVs for execution.
  • the current UAV management platform has a single management method, which cannot meet the multi-scenario control needs of users.
  • the embodiment of the present application provides a UAV management and control method, a flight control method, a management platform, a nest and a storage medium, which enrich the control methods for the UAV and improve the scope of application of the management platform.
  • the embodiment of the present application provides a UAV management and control method for a management platform, the method comprising:
  • the delivery task Responsive to the user's first input operation, based on the task of the UAV, the delivery task is obtained, and the delivery task is sent to the machine nest or the server, wherein, when the delivery task is sent to the server,
  • the delivery task also includes the pilot ID;
  • the server is used to store the delivery task, and the pilot obtains the delivery task from the server.
  • the drone task includes a drone type, a route type and a flight task
  • the route type includes an automatic route and a manual route.
  • the method further includes: displaying a drone flight picture
  • an inquiry message is sent to the pilot's remote controller, and the inquiry message is used to ask whether the pilot agrees to remotely control the drone. machine;
  • the method also includes:
  • a calendar task list is displayed, and the calendar task list includes calendar information and task information.
  • the method also includes:
  • a power-on instruction is sent to the nest, and the power-on instruction is used to instruct the nest to turn on the drone;
  • the release instruction is used to instruct the nest to release the constraints on the UAV, so that the unmanned aircraft take off from said nest;
  • a flight control instruction is generated, the flight control instruction is used to control the flight state of the drone, and the flight state includes a flight direction.
  • the method also includes:
  • a map and at least one machine nest located in the map are displayed on a display screen coupled to the management platform.
  • the method also includes:
  • the state of the nest and the state of the drone in the nest are displayed on the display screen.
  • sending a release instruction to the nest includes:
  • the embodiment of the present application also provides a UAV flight control method for a machine nest, the method comprising:
  • the delivery task includes the flight task and flight time
  • releasing the constraints on the drone when the status of the drone in the nest is normal includes:
  • the method also includes:
  • the unmanned aerial vehicle After the unmanned aerial vehicle lands in the nest, the unmanned aerial vehicle is turned off, and the unmanned aerial vehicle is charged.
  • the embodiment of the present application also provides a management platform, the management platform includes:
  • a first memory the first memory is connected to the at least one first processor in communication, the first memory stores instructions executable by the at least one first processor, and the instructions are executed by the at least one first processor The first processor executes, so that the at least one first processor can execute the UAV management and control method of the first aspect.
  • the embodiment of the present application also provides a machine nest, the machine nest includes:
  • a second memory the second memory is connected in communication with the at least one second processor, the second memory stores instructions executable by the at least one second processor, and the instructions are executed by the at least one second processor
  • the second processor executes, so that the at least one second processor can execute the UAV management and control method of the second aspect.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a machine, the machine executes The above-mentioned UAV management control method.
  • the present application has at least the following beneficial effects: the UAV management control method, flight control method, management platform, machine nest and storage medium of the embodiment of the application, after the management platform obtains the UAV task, it can Send the UAV task to the machine nest, and the machine nest controls the drone to take off. It is also possible to send the delivery task including the pilot ID to the server, and the pilot obtains the delivery task through the server and controls the UAV to execute the task.
  • the embodiment of the present application provides a variety of UAV control methods for the management platform, which can improve the scope of application of the management platform.
  • Fig. 1 is a schematic diagram of an application scenario of the UAV management and control method in the embodiment of the present application
  • Fig. 2 is a schematic diagram of the hardware structure of the first controller in the management platform of the embodiment of the present application;
  • Fig. 3 is a schematic diagram of the hardware structure of the second controller in the machine nest according to the embodiment of the present application;
  • FIG. 4 is a schematic flow diagram of a method for managing and controlling an unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 5 is a schematic diagram of creating a fixed-wing task in the UAV management and control method of the embodiment of the present application
  • FIG. 6 is a schematic diagram of creating a rotor task in the UAV management and control method of the embodiment of the present application.
  • Fig. 7 is a schematic diagram of tasks issued in the UAV management and control method of the embodiment of the present application.
  • FIG. 8 is another schematic diagram of a task issued in the UAV management and control method according to the embodiment of the present application.
  • Fig. 9 is a schematic diagram of a UAV flight video screen displayed in the UAV management and control method in the embodiment of the present application.
  • Fig. 10 is a schematic diagram showing a calendar task table in the UAV management and control method of the embodiment of the present application.
  • Fig. 11 is a schematic flow chart of the UAV management and control method in the embodiment of the present application.
  • Fig. 12 is a schematic diagram showing a map and a machine nest in the UAV management and control method in the embodiment of the present application;
  • Fig. 13 is a schematic diagram showing nest state and UAV state in the UAV management and control method in the embodiment of the present application;
  • Fig. 14 is a schematic flow diagram of an embodiment of the UAV management and control method of the present application.
  • Fig. 15 is a schematic diagram of obtaining a task list after the pilot logs in to the APP in the UAV management and control method according to the embodiment of the present application;
  • Fig. 16 is a schematic flow chart of an embodiment of the flight control method of the drone of the present application.
  • the UAV management control method and flight control method provided in the embodiment of the present application can be applied to the application scenario shown in Figure 1, in which the application scenario shown in Figure 1 includes a management platform 100, a machine nest 200, a drone 300, server 400, remote controller 500, pilot 600 and administrator 700.
  • a communication connection can be established through respective internal wireless communication modules (such as signal receivers, signal transmitters, etc.), upload or Issue data/commands.
  • the management platform 100 and the nest 200, and the management platform 100 and the server 400 can be connected through wired or wireless communication.
  • Drone 300 may be any suitable unmanned aerial vehicle, including fixed-wing or rotary-wing unmanned aerial vehicles, such as helicopters, quadrotors, and aircraft with other numbers and/or configurations of rotors.
  • the UAV 300 can also be other movable objects, such as manned aircraft, model airplanes, unmanned airships and unmanned hot air balloons.
  • the UAV 300 generally includes a fuselage, an arm connected to the fuselage, a power system, a control system, and the like.
  • the power system is used to provide power for the UAV 300 to fly, such as thrust, lift, etc., and may include motors, electric regulators, blades, or batteries.
  • the control system is the central nervous system of the UAV 300, including one or more controllers, and a plurality of sensors. Multiple sensors are used to sense the spatial orientation, velocity, acceleration, angular acceleration, attitude, position, etc. of the UAV, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • the remote controller 500 can be a special remote controller for drones, or other electronic devices with control functions, such as smart phones/mobile phones, tablet computers, personal digital assistants (PDAs), laptop computers, desktop computers, wearable devices (such as watches, glasses, etc.), media content players, etc.
  • PDAs personal digital assistants
  • wearable devices Such as watches, glasses, etc.
  • media content players etc.
  • the machine nest 200 is used to place the UAV 300 , which usually includes a cabinet and a cover.
  • the cabinet and the cover form a closed space.
  • the nest 200 may also include a charging module for charging the drone when the drone is placed therein.
  • the machine nest 200 may also include a cover control mechanism for controlling the opening or closing of the cover.
  • a pressing mechanism may also be included for controlling the drone to be turned on or off by pressing the on/off key of the drone.
  • the cover body control mechanism may be composed of existing structures such as a motor, a linkage mechanism, and a transmission mechanism, and the pressing mechanism may be composed of existing structures including a pressing body and an elastic member.
  • the machine nest 200 may also include a first controller, configured to send control instructions to the cover control mechanism, the pressing mechanism, and the drone.
  • FIG. 2 schematically shows the hardware structure of the first controller.
  • the first controller includes a first memory 21 and a first processor 22 .
  • the first memory 21 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs and non-volatile computer-executable program instructions.
  • the first memory 21 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the first memory 21 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the first memory 21 may optionally include a memory that is set remotely relative to the first processor 22, and these remote memories may be connected to the terminal through a network.
  • Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the first processor 22 uses various interfaces and lines to connect various parts of the entire machine nest 200, and executes the engine nest 200 by running or executing software programs stored in the first memory 21 and calling data stored in the first memory 21.
  • the various functions and processing data of 200 for example, realize the UAV management and control method described in some embodiments of this application.
  • first processor 22 There may be one or more first processors 22 , one first processor 22 is taken as an example in FIG. 2 .
  • the first processor 22 and the first memory 21 may be connected through a bus or in other ways. In FIG. 2 , connection through a bus is taken as an example.
  • the first processor 22 may include a central processing unit (CPU), a digital signal processor
  • the first processor 22 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
  • the management platform 100 is a platform for unified management of the machine nest 200 and the drone 300, and may be any suitable electronic device with control functions, such as a laptop computer, a desktop computer or a server group.
  • the management platform 100 may include a display screen, or display by connecting other display devices, and the display screen may be used to display various states of the nest and/or the drone, such as the state of the cover of the nest (open or closed), the The status of the Nest main control board (normal or abnormal), the charging status of the drone (charging completed or charging), and the status of the drone (normal or abnormal), etc.
  • the management platform 100 may also include an input device for inputting manipulation commands from the user 200, such as drone takeoff/landing commands, drone direction control commands, and the like.
  • the input device is, for example, a touch screen, a button, or a mouse.
  • the management platform 100 may further include a second controller.
  • FIG. 3 schematically shows a hardware structure of the second controller.
  • the second controller includes a second memory 31 and a second processor 32 .
  • the second memory 31 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs and non-volatile computer-executable program instructions.
  • the second memory 31 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the terminal, and the like.
  • the second memory 31 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the second memory 31 may optionally include a memory set remotely relative to the second processor 32, and these remote memories may be connected to the terminal through a network.
  • Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the second processor 32 uses various interfaces and lines to connect various parts of the entire management platform 100, and executes the management platform by running or executing software programs stored in the second memory 31 and calling data stored in the second memory 31.
  • Various functions and processing data of 100 for example, realize the drone flight control method described in some embodiments of this application.
  • the second processor 32 may be one or more second processors 32 , one second processor 32 is taken as an example in FIG. 3 .
  • the second processor 32 and the second memory 31 may be connected through a bus or in other ways. In FIG. 3 , connection through a bus is taken as an example.
  • the second processor 32 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) device, and the like.
  • the second processor 32 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.
  • the administrator 700 can manage the drones, nests and pilots through the management platform 100, such as creating drone tasks, setting configuration information for drone tasks, assigning tasks, and so on.
  • the administrator 700 can also manage the pilots, such as creating a pilot team, inviting pilots, and so on.
  • the administrator 700 can also manage the equipment (machine nest, unmanned aerial vehicle, etc.), such as adding equipment, regularly eliminating aging equipment, and the like.
  • the administrator 700 can also use the input device of the management platform 100 to perform remote flight control on the drone.
  • the operation of remotely controlling the drone can also be performed by a dedicated operator.
  • UAV missions can be divided into fixed-wing missions, rotary-wing missions, and other UAV-type missions according to different UAV types.
  • UAV tasks can also be divided into automatic route tasks and manual route tasks.
  • the automatic route means that the route is determined before the UAV flies, and the UAV needs to fly according to the determined route.
  • the manual route means that the route is uncertain before the drone flies, and the pilot manually controls the route according to different situations during the flight.
  • the management platform 100 can assign the drone task to the nest 200, and the nest 200 controls the flight of the drone.
  • the management platform 100 can also assign the drone task to the corresponding pilot 600.
  • the management platform 100 can send the drone task and the corresponding pilot ID to the server 400, and the pilot 600 can log in The APP obtains the mission of the drone from the server 400 and executes it.
  • the server 400 is used to obtain and store drone missions from the management platform 100, and is used as a server for the APP software.
  • the pilot 600 needs to know the mission he wants to perform, he can log in to the APP to obtain the drone he needs to execute from the server 400. Task.
  • the pilot 600 can control the flight of the UAV 300 through the remote control 500, and the pilot 600 can log in to the APP to obtain tasks and perform tasks. Pilot 600 can perform automatic routing tasks, and can also perform manual routing tasks. It can perform fixed-wing missions or rotary-wing missions, or other missions.
  • management platform 100 machine nest 200, drone 300, server 400, remote controller 500, pilot 600 and administrator 700 shown in accompanying drawing 2 does not constitute a limitation. , in combination with specific application situations, the above-mentioned devices or personnel may also be more or less in number.
  • management platform 100 the machine nest 200 and the drone 300.
  • the management platform 100, the machine nest 200 More components are provided with the UAV 300, and of course, one or more components can also be omitted according to functional requirements.
  • Fig. 4 shows a kind of flowchart of the UAV management and control method in the embodiment of the present application, which can be executed by the above-mentioned management platform 100 (for example, the first controller in the management platform 100), as shown in Fig. 4 , the Methods include:
  • the drone tasks include drone flight tasks, such as patrolling the southern area of Yangtai Mountain according to a specific route, or monitoring the grazing situation of a certain flock of sheep without limiting the route.
  • drone missions may also include drone types, ie, for example, drone missions may be fixed-wing missions, rotary-wing missions, or other drone-type missions.
  • the unmanned aerial vehicle task may also include a route type, and the route type includes an automatic route and a manual route.
  • the automatic route means that the route is determined before the UAV flies, and the UAV needs to fly according to the determined route.
  • the manual route means that the route is uncertain before the drone flies, and the pilot manually controls the route according to the specific situation during the flight.
  • the UAV task can be created by the user through the management platform. For example, if it is necessary to patrol a certain area, a patrol task can be created on the management platform.
  • the management platform supports various types of UAV missions, such as fixed-wing missions and rotary-wing missions, and users can specify the UAV type for the mission when creating a mission. Users can determine the appropriate UAV type according to specific needs, for example, if the mission is far away or takes a long time, a fixed-wing mission can be created, and if the mission has a heavy load, a rotary-wing mission can be created.
  • Fig. 5 shows a way of creating and setting a task by taking creating a fixed-wing task as an example.
  • Figure 6 shows a form of creating a rotor task and setting the task.
  • the UAV task may also be stored on the management platform in advance, and the management platform obtains the UAV task by reading the memory of the management platform.
  • the delivery task also includes the pilot ID.
  • the server is used to store the delivery task, and the pilot obtains the delivery task from the server.
  • the management platform can manage one or more pilots, machine nests and drones.
  • hardware devices such as drones and machine nests can be added to the management platform in advance, and can be identified according to the serial number to determine whether it is unmanned. machine, machine nest or other hardware devices, and automatically classify them.
  • the administrator of the management platform can create a pilot team in advance and invite pilots to join the pilot team.
  • Each pilot has a unique pilot ID that represents the identity of the pilot, and the identity of each pilot can be distinguished by the pilot ID.
  • the management platform When the management platform sends tasks, it can be sent to the nest, which controls the drone to take off, or it can be sent to the pilot, who controls the flight of the drone.
  • the management platform sends the task to the pilot, it can send the task to the server, and the pilot uses the account number and password to log in to the APP. Since the account number and the pilot ID have a corresponding relationship, the pilot can be obtained from the server. UAV tasks to be performed.
  • the user can obtain the delivery task by inputting the first input operation to the management platform. For example, after the user creates a drone mission, he can select the pilot ID through the input device, and obtain the issued mission including the pilot ID. Then the first input operation is to select the pilot through the mouse or the touch screen.
  • the execution cycle, start time, and validity period of the delivered task can also be set as needed.
  • Figure 7 shows a form of assigning tasks by selecting pilots.
  • the machine nest ID is an operation of selecting a machine nest through a mouse or a touch screen.
  • the execution cycle start time, and validity period, etc.
  • Fig. 8 shows a form of issuing tasks by selecting a nest.
  • the embodiment of the application supports rotor missions and fixed-wing missions, supports automatic routing and manual routing, and supports sending missions to the nest or pilot.
  • the rotor (or fixed-wing) task of the automatic route is issued to the pilot.
  • the UAV automatically executes the task according to the automatic route, or the management platform issues the rotor (or fixed-wing) task of the manual route.
  • the pilot After the pilot obtains the task, he manually controls the drone to perform the task.
  • the management platform sends the rotor (or fixed-wing) task of the automatic route to the machine nest, and the machine nest controls the UAV to take off, and the UAV automatically executes the task according to the automatic route.
  • the management platform can also directly send the rotor (or fixed wing) task of the automatic route to the UAV, and the UAV will execute the task according to the automatic route.
  • the user can also directly use the management platform to manually control the drone to perform tasks.
  • the embodiment of the present application is applicable to various application occasions of unmanned aerial vehicles, and increases the scope of application of the management platform.
  • the video screen of the UAV flight can be displayed on the display screen coupled to the management platform. Please refer to FIG. 9.
  • the UAV flight screen is displayed on the right side of the screen. screen, you can understand the flight situation of the drone, so as to adjust the flight strategy.
  • the management platform when the UAV is controlled by the pilot, or controlled by the nest, or flies by itself, when the remote control conditions are met, for example, the failure of the UAV or environmental hazards are not conducive to safe flight.
  • the management platform can take back the control right from the pilot, and the management platform can control the UAV to return or land safely.
  • the management platform can ask the pilot whether he agrees to give up the control right. If the pilot agrees to give up the control right, the control right can be taken back.
  • the management platform can send an inquiry message to the server, and then the server sends the inquiry message to the pilot's remote control (or the management platform can directly send the inquiry message to the remote control).
  • the pilot can send the consent message to the server through the remote control, and then the server will send the consent message to the management platform (or the remote control can directly send the consent message to the management platform). After the management platform receives the consent message, the control will be transferred to the management platform.
  • the management platform also displays a calendar task table on its coupled display screen, the calendar task table includes calendar information and task information, the calendar information is the information representing the date and time, and the task information is the drone task Related Information. Displaying the calendar task list can remind the upcoming drone tasks to prevent users from forgetting.
  • the calendar task table can also be displayed in the APP logged in by the pilot to remind the pilot to perform the drone task on time.
  • FIG. 10 shows a form of a calendar task table. In the embodiment shown in FIG. 10 , nine days are the current date, that is, the calendar task table displays tasks on the current date. In some other embodiments, the tasks of various dates may also be displayed at the same time.
  • Figure 11 shows a method of directly using the management platform to manually control the drone to perform tasks, that is, a flow chart of the management and control method for the drone performed by the management platform.
  • This method can be determined by The above-mentioned management platform 100 (for example, the first controller in the management platform 100) executes, as shown in FIG. 11 , the method includes:
  • the display screen coupled to the management platform can display a map of a certain area, and display at least one nest distributed in the map, and the user can know the location of the nest through the map.
  • Fig. 12 exemplarily shows the location of the management platform and the machine nest on the map.
  • the user can also view the state of the machine nest and/or the state of the drone through the display screen, for example, the state of the cover (open or closed), the state of the main control board of the machine nest (normal or abnormal), no Human-machine charging status (charging completed or charging) and drone status (normal or abnormal), etc.
  • the fourth input operation can be input by the user (for example, the user hovers the mouse over the machine nest icon, or clicks the machine nest icon in the map through the mouse, or clicks the machine nest icon on the screen through the touch screen ), to display the nest status and drone status.
  • the status of the nest is displayed first. If the user finds that the nest is in a normal state and there is an idle drone in the nest, When you click or click on the nest, the status of the drone will be displayed again.
  • the user After the user selects the machine nest and the drone, he can input a second input operation through the input device of the management platform, and send a start-up command to the corresponding machine nest, so that the machine nest starts the drone.
  • the "one-key take-off" button displayed on the display screen can be clicked by the mouse, or the "one-key take-off” button on the touch screen can be clicked, and the management platform generates a power-on instruction in response to the click or single-click operation, And send the boot command to the machine nest.
  • a pressing mechanism can be provided on the machine nest, and when the machine nest receives a power-on command, the pressing mechanism is instructed to press the power-on button of the drone to start the drone.
  • the UAV after the UAV is turned on, it can perform self-tests, such as checking whether the components are normal, whether the battery temperature is too high, whether the battery power is too low, and so on.
  • a self-inspection success message is sent to the management platform, or the machine nest sends a self-inspection success message of the drone to the management platform.
  • the management platform receives the successful self-inspection message of the UAV, it can determine that the UAV can perform the flight mission normally. Then, generate a release instruction, and send the release instruction to the nest, so that the nest releases the constraint on the drone (for example, open the cover of the nest), and the drone takes off from the nest.
  • the UAV can also be directly notified of the success of the self-test to the nest, and the nest releases the constraints on the UAV, allowing the UAV to take off.
  • the UAV will send a self-inspection failure message to the management platform. After receiving the message, the management platform will prompt the user that the UAV is abnormal and cannot complete the flight task, and the user is asked to select another UAV .
  • 1103 Generate a flight control instruction in response to a third input operation of the user, where the flight control instruction is used to control a flight state of the drone, where the flight state includes a flight direction.
  • the user can input the third input operation through the management platform to control the flight state of the UAV, such as controlling the flight attitude and flight direction of the UAV.
  • the flight direction is, for example, ascending, descending, turning left, turning right, and the like.
  • the user can control the flying state of the drone through the keyboard (such as up, down, left, and right keys) of the management platform, and the third input operation is the operation of the user tapping the keyboard.
  • the drone touch buttons can also be displayed on the display screen coupled to the management platform, and the drone is controlled by the user using the mouse to click on the touch buttons, then the third input operation is a single-click operation on the display.
  • the UAV can be placed in the machine nest, and the daily maintenance (such as charging, etc.) of the UAV is performed by the machine nest.
  • the daily maintenance such as charging, etc.
  • the UAV can be taken off by controlling the machine nest, and the flight of the UAV can be controlled through the management platform.
  • the control method is more convenient.
  • the daily maintenance of drones through the machine nest can reduce management and maintenance costs.
  • the UAV can perform intelligent return and find a suitable nest for landing.
  • the fifth input operation can be input by the user through the management platform, the management platform generates a landing instruction based on the fifth input operation, the management platform sends the landing instruction to the UAV, and the UAV automatically finds a suitable route, and descend to the machine nest.
  • the drone Normally, the drone needs to land to the original nest, that is, the nest corresponding to the drone. If the nest is common, it can also land to any free and open nest. After the drone lands in the nest, the nest will close the lid and start charging the drone.
  • the "one-key return" touch button is displayed on the display screen coupled to the management platform, and the return of the drone is triggered by touching the button.
  • the fifth input operation is the operation of the touch button, for example, clicking the touch button with a mouse or clicking the touch button with a finger (in this case, the display screen is a touch screen). It is also possible to set a physical button on the management platform, and trigger the return of the UAV by triggering the physical button.
  • the user when the user presses the "one-key return” button and the drone automatically returns, the user can watch the video to determine whether the drone can safely land on the nest. , you can manually control the input device of the management platform to control the UAV to return to the machine nest. If the landing to the machine nest cannot be completed manually, the UAV can also be landed on the open space near the machine nest.
  • the landing status of the UAV can also be monitored by the management platform, and when it is determined that the UAV cannot land safely, an alarm message is sent to prompt the user to manually control the UAV to land on the nest.
  • the drone can send a distress message to the management platform, and the management platform will send an alarm message after receiving the distress message.
  • the management platform performs unified management of the drones, and the management platform can add more drones or reduce the number of drones according to actual needs.
  • security verification is required before the machine nest joins the management platform.
  • a machine nest when a machine nest requests to join the management platform, it needs to enter a verification password. Only by entering the correct verification password can the communication connection between the machine nest and the management platform be realized, and the machine nest can be displayed on the map of the management platform.
  • Fig. 14 shows a specific embodiment of the UAV management and control method.
  • the management platform generates a power-on instruction in response to the user's second input operation, such as the user clicking the "one-key take-off" touch button. After the management platform generates the power-on command, it sends the power-on command to the machine nest selected by the user, and the machine nest starts the drone located in the machine nest.
  • the UAV After the UAV is turned on, it will perform a self-inspection. If the self-inspection is successful, it will send a self-inspection success message to the management platform. After receiving the self-inspection success message, the management platform will send a release command to the nest, so that the nest will release the drone. If the self-inspection of the UAV fails, it will send a self-inspection failure message to the management platform. After receiving the self-inspection failure message, the management platform will send an alarm message to remind the user that the UAV selected by him is abnormal, and the user can re-select other UAVs. .
  • the user can generate a flight control instruction by inputting a third input operation to the input device of the management platform, and the management platform sends the flight control instruction to the UAV to instruct the UAV to fly.
  • the third input operation is, for example, the user taps the up, down, left, and right keys on the keyboard.
  • the UAV finds that it is abnormal or the environment is abnormal during the flight, it can return to the original nest or other idle and open nests.
  • the user can generate a landing command by inputting the fifth input operation to the management platform.
  • the fifth input operation such as clicking the "one-key landing" touch button.
  • the management platform sends the landing command to the UAV, and the UAV lands automatically. During the landing process, it is not controlled by the management platform, and the UAV lands by itself. However, when the drone cannot land on the nest, the user can manually control the drone to land on the nest through the management platform.
  • the following describes the working process of the management platform sending tasks to the pilot, and the pilot executes the manual route task or the automatic route task.
  • Fig. 15 shows a form of task list.
  • the pilot chooses a task to start executing. If the task is an automatic route task, the UAV will fly according to the automatic route and return to the flight after the task is completed. If a serious abnormality occurs during the flight, it will also return.
  • the management platform displays the flight picture of the UAV on its coupled display screen. During the flight of the UAV, the management platform monitors its flight. If the management platform determines that the UAV meets the remote control conditions, it asks the pilot whether to agree Hand over the flight control right. After the pilot agrees, the flight control right is transferred to the management platform.
  • the embodiment of the present application also provides a UAV flight control method, the method can be executed by the nest (such as the second controller in the nest), as shown in Figure 16, the method includes:
  • the management platform sends the task to the aircraft nest. After the aircraft nest obtains the issued task, it monitors the execution time of the issued task. When the flight time is not reached, the drone is powered off and charged in the aircraft nest. When the time is up, turn on the drone in the nest.
  • the drone or nest will report an error to the management platform. If the state of the UAV is normal, the Nest releases the constraints on the UAV. And send the flight mission to the UAV, and the UAV will automatically execute the flight mission.
  • the UAV it is determined whether the state of the UAV is abnormal through the self-inspection program of the UAV, and the UAV performs a self-inspection after starting up. If the self-inspection is successful, it sends a self-inspection success message to the machine nest, and the machine nest receives After the successful self-inspection message of the UAV, it can be determined that the UAV can perform flight tasks normally. Then release the constraint to the UAV (such as opening the cover of the nest), so that the UAV takes off from the nest.
  • the UAV After the UAV completes the flight mission, it lands in the machine nest, and the machine nest turns off the UAV and charges the UAV. If the drone cannot normally land on the machine nest, the machine nest can report to the management platform and prompt the management platform to use a manual control scheme to control the landing of the drone.
  • the UAV can be placed in the machine nest, and the daily maintenance (such as charging, etc.) of the UAV can be performed by the machine nest. And the machine nest obtains tasks from the management platform and controls the drone to take off.
  • the control method is more convenient.
  • the daily maintenance of UAVs through the machine nest can reduce management and maintenance costs.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as a first A processor 22, which can make the above-mentioned one or more processors execute the drone management control method or the drone flight control method in any of the above-mentioned method embodiments, for example, execute the method step 301 in FIG. 3 described above Go to step 302, steps 1601-1604 in FIG. 16 .
  • processors such as a first A processor 22, which can make the above-mentioned one or more processors execute the drone management control method or the drone flight control method in any of the above-mentioned method embodiments, for example, execute the method step 301 in FIG. 3 described above Go to step 302, steps 1601-1604 in FIG. 16 .
  • the embodiment of the present application also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a machine During execution, the machine is made to execute the above-mentioned UAV management control method or UAV flight control method. For example, the method steps 301 to 302 in FIG. 3 and steps 1601-1604 in FIG. 16 described above are executed.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种无人机(300)管理控制方法、飞行控制方法、管理平台(100)、机巢(200)和存储介质。无人机(300)管理控制方法包括：获取无人机(300)任务(301)；响应于用户的第一输入操作，基于无人机(300)任务获取下发任务，并将下发任务发送至机巢(200)或服务器(400)，其中，在将下发任务发送至服务器(400)的场合，下发任务还包括飞手ID；服务器(400)用于存储下发任务，飞手(600)从服务器(400)获取下发任务(302)。无人机(300)管理控制方法可以将无人机(300)任务下发至机巢(200)，由机巢(200)控制无人机(300)起飞，也可以将包括飞手ID的下发任务下发至服务器(400)，飞手(600)通过服务器(400)获取下发任务，并控制无人机(300)执行任务。管理平台(100)提供了多种无人机(300)控制方式，可以提高管理平台(100)的适用范围。

Description

无人机管理控制方法、飞行控制方法、管理平台和机巢
本申请要求于2021年8月27日提交中国专利局、申请号为2021109950743、申请名称为“无人机管理控制方法、飞行控制方法、管理平台和机巢”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及无人飞行器技术领域，特别涉及一种无人机管理控制方法、飞行控制方法、管理平台、机巢和存储介质。
背景技术
无人机管理平台为对无人机的飞行任务进行管理的平台，通常用于创建无人机任务，并下发给无人机执行。目前的无人机管理平台，管理方式较为单一，无法满足用户的多场景控制需求。
发明内容
本申请实施例提供一种无人机管理控制方法、飞行控制方法、管理平台、机巢和存储介质，丰富了对无人机的控制方式，提高了管理平台的适用范围。
第一方面，本申请实施例提供了一种无人机管理控制方法，用于管理平台，所述方法包括：
获取无人机任务；
响应于用户的第一输入操作，基于所述无人机任务获取下发任务，并将所述下发任务发送至机巢或服务器，其中，在将所述下发任务发送至服务器的场合，所述下发任务还包括飞手ID；
所述服务器用于存储所述下发任务，飞手从服务器获取所述下发任 务。
在一些实施例中，所述无人机任务包括无人机类型、航线类型和飞行任务，所述航线类型包括自动航线和手动航线。
在一些实施例中，所述方法还包括：显示无人机飞行画面；
所述无人机飞行过程中，在所述无人机符合远程控制条件时，发送询问消息至飞手的遥控器，所述询问消息用于询问所述飞手是否同意远程控制所述无人机；
在所述飞手同意远程控制所述无人机的情况下，远程控制所述无人机。
在一些实施例中，所述方法还包括：
显示日历任务表，所述日历任务表包括日历信息和任务信息。
在一些实施例中，所述方法还包括：
响应于用户的第二输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
响应于用户的第三输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
在一些实施例中，所述方法还包括：
在所述管理平台耦合的显示屏上显示地图和位于所述地图中的至少一个机巢。
在一些实施例中，所述方法还包括：
响应于用户的第四输入操作，在所述显示屏上显示所述机巢的状态和所述机巢中无人机的状态。
在一些实施例中，当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，包括：
接收所述无人机或所述机巢发送的无人机的自检成功消息，基于所述自检成功消息，生成所述释放指令；
向所述机巢发送所述释放指令。
第二方面，本申请实施例还提供了一种无人机飞行控制方法，用于机巢，所述方法包括：
接收管理平台发送的下发任务，所述下发任务包括飞行任务和飞行时间；
当到达所述飞行时间时，开启所述机巢内的无人机；
当所述机巢中的无人机状态正常时，释放对所述无人机的约束；
将所述飞行任务发送至无人机，并指令所述无人机执行所述飞行任务。
在一些实施例中，所述当所述机巢中的无人机状态正常时，释放对所述无人机的约束，包括：
当接收到所述无人机发送的自检成功消息时，释放对所述无人机的约束。
在一些实施例中，所述方法还包括：
在无人机降落至机巢后，关闭所述无人机，为所述无人机充电。
第三方面，本申请实施例还提供了一种管理平台，所述管理平台包括：
至少一个第一处理器，以及
第一存储器，所述第一存储器与所述至少一个第一处理器通信连接，所述第一存储器存储有可被所述至少一个第一处理器执行的指令，所述指令被所述至少一个第一处理器执行，以使所述至少一个第一处理器能够执行第一方面的无人机管理控制方法。
第四方面，本申请实施例还提供了一种机巢，所述机巢包括：
至少一个第二处理器，以及
第二存储器，所述第二存储器与所述至少一个第二处理器通信连接，所述第二存储器存储有可被所述至少一个第二处理器执行的指令，所述指令被所述至少一个第二处理器执行，以使所述至少一个第二处理器能够执行第二方面的无人机管理控制方法。
第五方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被机器执行时，使所述机器执行上述的无人机管理控制方法。
本申请与现有技术相比，至少具有以下有益效果：本申请实施例的无人机管理控制方法、飞行控制方法、管理平台、机巢和存储介质，管理平台获取无人机任务后，可以将无人机任务下发至机巢，由机巢控制无人机起飞。也可以将包括飞手ID的下发任务下发至服务器，飞手通过服务器获取下发任务，并控制无人机执行任务。本申请实施例为管理平台提供了多种无人机控制方式，可以提高管理平台的适用范围。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例无人机管理控制方法的一个应用场景示意图；
图2是本申请实施例管理平台中第一控制器的硬件结构示意图；
图3是本申请实施例机巢中第二控制器的硬件结构示意图；
图4是本申请实施例无人机管理控制方法的流程示意图；
图5是本申请实施例无人机管理控制方法中创建固定翼任务示意图；
图6是本申请实施例无人机管理控制方法中创建旋翼任务示意图；
图7是本申请实施例无人机管理控制方法中下发任务示意图；
图8是本申请实施例无人机管理控制方法中下发任务的另一示意图；
图9是本申请实施例无人机管理控制方法中显示无人机飞行视频画面示意图；
图10是本申请实施例无人机管理控制方法中显示日历任务表示意图；
图11是本申请实施例无人机管理控制方法的流程示意图；
图12是本申请实施例无人机管理控制方法中显示地图和机巢示意图；
图13是本申请实施例无人机管理控制方法中显示机巢状态和无人 机状态示意图；
图14是本申请无人机管理控制方法的一个实施例的流程示意图；
图15是本申请实施例无人机管理控制方法中，飞手登录APP后获取任务列表示意图；
图16是本申请无人机飞行控制方法的一实施例的流程示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的无人机管理控制方法和飞行控制方法可以应用于如图1所示的应用场景，在图1所示的应用场景中，包括管理平台100、机巢200、无人机300、服务器400、遥控器500、飞手600和管理员700。
管理平台100和无人机300之间、遥控器500和无人机300之间，可以通过分别设置在各自内部的无线通信模块(例如信号接收器、信号发送器等)建立通信连接，上传或者下发数据/指令。管理平台100和机巢200之间、管理平台100和服务器400之间，可以通过有线或无线通信方式连接。
无人机300可以为任何合适的无人飞行器，包括固定翼无人飞行器或旋转翼无人飞行器，例如直升机、四旋翼机和具有其它数量的旋翼和/或旋翼配置的飞行器。无人机300还可以是其他可移动物体，例如载人飞行器、航模、无人飞艇和无人热气球等。
无人机300通常包括机身、与所述机身相连的机臂、动力系统和控制系统等。动力系统用于提供无人机300飞行的动力，例如推力、升力等，可以包括电机、电调、桨叶或者电池等。
控制系统是无人机300的中枢神经，包括一个或多个控制器，以及 多个传感器。多个传感器用于感测无人机的空间方位、速度、加速度、角加速度、姿态、位置等，包括GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器等。
遥控器500可以为无人机专用遥控器，也可以为其他具有控制功能的电子设备，例如智能电话/手机、平板电脑、个人数字助理(PDA)、膝上计算机、台式计算机、可穿戴装置(例如手表、眼镜等)、媒体内容播放器等。
机巢200用于放置无人机300，其通常包括柜体和盖体，柜体和盖体形成一封闭空间，无人机300放置于其中时，可以免去日晒雨淋。机巢200还可以包括充电模块，用于无人机放置于其中时，对无人机进行充电。
机巢200还可以包括盖体控制机构，用于控制盖体开启或关闭。还可以包括按压机构，用于通过按压无人机的开/关机键，以控制无人机开机或者关机。其中，盖体控制机构可以由例如电机、连动机构、传动机构等现有结构构成，按压机构可以由包括按压本体和弹性件等的现有结构构成。
机巢200还可以包括第一控制器，用于向盖体控制机构、按压机构和无人机等发送控制指令。图2示意性的示出了第一控制器的硬件结构，如图2所示，第一控制器包括第一存储器21和第一处理器22。
其中，第一存储器21作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序指令。第一存储器21可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据终端的使用所创建的数据等。
此外，第一存储器21可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，第一存储器21可选包括相对于第一处理器22远程设置的存储器，这些远程存储器可以通过网络连接至终端。
上述网络的实例包括但不限于互联网、企业内部网、局域网、移动 通信网及其组合。
第一处理器22利用各种接口和线路连接整个机巢200的各个部分，通过运行或执行存储在第一存储器21内的软件程序，以及调用存储在第一存储器21内的数据，执行机巢200的各种功能和处理数据，例如实现本申请部分实施例所述的无人机管理控制方法。
第一处理器22可以为一个或多个，图2中以一个第一处理器22为例。第一处理器22和第一存储器21可以通过总线或者其他方式连接，图2中以通过总线连接为例。
第一处理器22可包括中央处理单元(CPU)、数字信号处理器
(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)设备等。第一处理器22还可以被实现为计算设备的组合，例如，DSP与微处理器的组合、多个微处理器、结合DSP核心的一个或多个微处理器、或者任何其它此类配置。
管理平台100为对机巢200和无人机300进行统一管理的平台，可以为任何合适的具有控制功能的电子设备，例如膝上计算机、台式计算机或服务器群等。
管理平台100可以包括显示屏，或者通过连接其他显示设备进行显示，显示屏可以用于显示机巢和/或无人机的各种状态，例如机巢的盖体状态(开或关)、机巢主控板状态(正常或异常)、无人机充电状态(充电完成或充电中)和无人机状态(正常或异常)等。
管理平台100还可以包括输入装置，用于输入用户200的操控指令，例如无人机起飞/降落指令、无人机方向控制指令等。以实现用户200和管理平台100的人机交互，其中，输入装置例如触控屏、按键或者鼠标等。
管理平台100还可以包括第二控制器，图3示意性的示出了第二控制器的硬件结构，如图3所示，第二控制器包括第二存储器31和第二处理器32。
其中，第二存储器31作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序指令。第二存储器31可以包括存储程序区和存储数据区，其中，存储程序区可存储操作 系统、至少一个功能所需要的应用程序；存储数据区可存储根据终端的使用所创建的数据等。
此外，第二存储器31可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，第二存储器31可选包括相对于第二处理器32远程设置的存储器，这些远程存储器可以通过网络连接至终端。
上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
第二处理器32利用各种接口和线路连接整个管理平台100的各个部分，通过运行或执行存储在第二存储器31内的软件程序，以及调用存储在第二存储器31内的数据，执行管理平台100的各种功能和处理数据，例如实现本申请部分实施例所述的无人机飞行控制方法。
第二处理器32可以为一个或多个，图3中以一个第二处理器32为例。第二处理器32和第二存储器31可以通过总线或者其他方式连接，图3中以通过总线连接为例。
第二处理器32可包括中央处理单元(CPU)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)设备等。第二处理器32还可以被实现为计算设备的组合，例如，DSP与微处理器的组合、多个微处理器、结合DSP核心的一个或多个微处理器、或者任何其它此类配置。
管理员700可以通过管理平台100对各无人机、机巢和飞手进行管理，例如创建无人机任务、为无人机任务设置配置信息、分配任务等。管理员700还可以对飞手进行管理，例如创建飞手团队、邀请飞手等。管理员700还可以对设备(机巢、无人机等)进行管理，例如增加设备、定期淘汰老化的设备等。
另外，管理员700还可以利用管理平台100的输入装置对无人机进行远程飞行控制。当然，也可以由专门的操作员来执行远程控制无人机的操作。
无人机任务可以依据不同的无人机类型分为固定翼任务、旋翼任务 以及其他无人机类型任务等。无人机任务还可以分为自动航线任务和手动航线任务。自动航线即航线在无人机飞行前是确定的，无人机需按确定的航线飞行。手动航线即航线在无人机飞行前是不确定的，在飞行过程中由飞手依据不同情况人为控制航线。
管理平台100在分配任务时，可以将无人机任务分配给机巢200，由机巢200控制无人机飞行。管理平台100也可以将无人机任务分配给对应的飞手600，在此种情况下，管理平台100可以将无人机任务及对应的飞手ID发送至服务器400，飞手600可以通过登录APP从服务器400获取无人机任务并执行。
服务器400用于从管理平台100获取并存储无人机任务，用作APP软件的服务器，当飞手600需要获知自己要执行的任务时，可以登录APP从服务器400获取自己需要执行的无人机任务。
飞手600可以通过遥控器500控制无人机300的飞行，飞手600可以登录APP获取任务并执行任务。飞手600可以执行自动航线任务，也可以执行手动航线任务。可以执行固定翼任务也可以执行旋翼任务，或者其他任务。
需要说明的时，附图2中示出的管理平台100、机巢200、无人机300、服务器400、遥控器500、飞手600和管理员700的数量并不构成限定，在实际使用中，结合具体应用情况，上述装置或者人员还可以为更多或者更少的数量。
本领域技术人员可以理解的，以上仅是对管理平台100、机巢200和无人机300硬件结构的举例说明，在实际应用中，还可以根据实际功能需要，为管理平台100、机巢200和无人机300设置更多部件，当然，也可以根据功能需要，省略其中一个或者多个部件。
图4示出了本申请实施例无人机管理控制方法的一种流程图，该方法可由上述管理平台100(例如管理平台100中的第一控制器)执行，如图4所示，所述方法包括：
101：获取无人机任务。
即获取需要无人机执行的任务，所述无人机任务包括无人机的飞行 任务，例如按一特定路线巡检羊台山南区，又或者不限定路线监控某一群羊群的放牧情况。
在一些实施例中，无人机任务还可以包括无人机类型，即例如无人机任务可以是固定翼任务、旋翼任务或其他无人机类型的任务。
所述无人机任务还可以包括航线类型，航线类型包括自动航线和手动航线。自动航线即航线在无人机飞行前是确定的，无人机需按确定的航线飞行。手动航线即航线在无人机飞行前是不确定的，在飞行过程中由飞手依据具体情况人为控制航线。
其中，无人机任务可以是用户通过管理平台创建的，例如需要在某个区域巡逻，则可以在管理平台创建一巡逻任务。管理平台支持多种类型的无人机任务，例如固定翼任务和旋翼任务，用户创建任务时可以为任务指定无人机类型。用户可以根据具体需要确定合适的无人机类型，例如，如果任务距离远或时间长，则可以创建固定翼任务，如果任务负重较大，则可以创建旋翼任务。
为便于区分，用户还可以为无人机任务命名，例如，阳台山南区巡检任务。
用户创建任务后，还可以进一步通过管理平台对无人机任务进行配置。例如，飞行高度、云台俯仰角和云台平移角等。图5以创建固定翼任务为例示出了一种创建任务并设置任务的方式。图6示出了创建旋翼任务并设置任务的一种形式。
在另一些实施例中，无人机任务也可以是事先存储于管理平台上的，管理平台通过读取管理平台存储器获取无人机任务。
102：响应于用户的第一输入操作，基于所述无人机任务获取下发任务，并将所述下发任务发送至机巢或服务器，其中，在将所述下发任务发送至服务器的场合，所述下发任务还包括飞手ID。所述服务器用于存储所述下发任务，飞手从服务器获取所述下发任务。
管理平台可以对一或多个飞手、机巢和无人机进行管理，例如，可以事先将无人机、机巢等硬件设备添加到管理平台，并根据序列号进行识别，确定是无人机、机巢还是其他硬件设备，并进行自动分类。
管理平台的管理员可以事先创建飞手团队，并邀请飞手加入飞手团 队，每个飞手均具有唯一代表飞手身份的飞手ID，可以通过飞手ID区分各飞手的身份。
管理平台下发任务时，可以下发给机巢，由机巢控制无人机起飞，也可以下发给飞手，由飞手控制无人机飞行。当管理平台将下发任务下发给飞手时，可以将下发任务发送至服务器，飞手利用账号和密码登陆APP，由于账号与飞手ID具有对应关系，因此可以从服务器获取该飞手需执行的无人机任务。
用户可以通过向管理平台输入第一输入操作，获取下发任务。例如，用户创建一无人机任务后，可以通过输入装置选择飞手ID，获取包括飞手ID的下发任务。则第一输入操作为通过鼠标或者触控屏进行选择飞手的操作。
在另一些实施例中，根据需要，在进行任务下发时，还可以设置下发任务的执行周期、开始时间以及有效期等。图7示出了通过选择飞手下发任务的一种形式。
还可以通过输入装置选择机巢ID，将无人机任务下发给机巢，获取下发任务。则第一输入操作为通过鼠标或者触控屏选择机巢的操作。根据需要，在进行任务下发时，还可以设置执行周期、开始时间以及有效期等。图8示出了通过选择机巢下发任务的一种形式。
本申请实施例支持旋翼任务和固定翼任务，支持自动航线和手动航线，支持下发任务至机巢或飞手。例如下发自动航线的旋翼(或固定翼)任务至飞手，飞手获取任务后，由无人机按自动航线自动执行任务，或者，管理平台下发手动航线的旋翼(或固定翼)任务至飞手，飞手获取任务后，手动控制无人机执行任务。
再例如，管理平台下发自动航线的旋翼(或固定翼)任务至机巢，机巢控制无人机起飞，无人机按自动路线自动执行任务。管理平台还可以直接将自动航线的旋翼(或固定翼)任务发送至无人机，无人机自行按自动路线执行任务。
可选的，本申请实施例中，用户还可以直接利用管理平台手动控制无人机执行任务。本申请实施例适用于多种无人机的应用场合，增加了管理平台的适用范围。
管理平台耦合的显示屏上可以显示无人机飞行的视频画面，请参见图9，在图9所示的实施例中，无人机飞行画面显示于屏幕右侧，用户通过观看无人机飞行画面，可以了解无人机的飞行情况，从而调整飞行策略。
在一些实施例中，当无人机由飞手控制飞行、或由机巢控制飞行，或自行飞行时，在符合远程控制条件时，例如，无人机故障或者环境危险等不利于安全飞行的情况出现时，为降低无人机的飞行风险，可以由管理平台从飞手处取回控制权，由管理平台控制无人机返航或者安全降落。
在由飞手控制飞行的场合，管理平台取回控制权时，可以询问飞手是否同意放弃控制权，在飞手同意放弃控制权的情况下，取回控制权。具体的，管理平台可以发送询问消息至服务器，再由服务器将询问消息发送至飞手的遥控器(也可以是管理平台直接将询问消息发送给遥控器)。飞手可以通过遥控器发送同意消息给服务器，再由服务器将同意消息发送给管理平台(也可以是遥控器直接将同意消息发送给管理平台)，管理平台接收到同意消息后，控制权移转至管理平台。
在一些实施例中，管理平台在其耦合的显示屏上还显示日历任务表，所述日历任务表包括日历信息和任务信息，日历信息即表征日期和时间的信息，任务信息即无人机任务相关信息。显示日历任务表可以对即将要执行的无人机任务进行提醒，避免用户遗忘。在另一些实施例中，也可以在飞手登录的APP中显示日历任务表，提醒飞手按时执行无人机任务。图10示出了日历任务表的一种形式，在图10所示的实施例中，九日为当前日期，即日历任务表显示当前日期的任务。在另一些实施例中，也可以同时显示各个日期的任务。
以下举例说明管理平台的几种应用场合，图11示出了直接利用管理平台手动控制无人机执行任务的一种方法，即管理平台执行的无人机管理控制方法的流程图，该方法可由上述管理平台100(例如管理平台100中的第一控制器)执行，如图11所示，所述方法包括：
1101：响应于用户的第二输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机。
在其中一些实施例中，管理平台耦合的显示屏可以显示某一区域的地图，并显示地图中分布的至少一个机巢，用户可以通过地图知悉机巢的位置。图12示例性的示出了管理平台和机巢在地图中的所在位置。
在一些实施例中，用户还可以通过显示屏查看机巢的状态和/或无人机的状态，例如，盖体状态(开或关)、机巢主控板状态(正常或异常)、无人机充电状态(充电完成或充电中)和无人机状态(正常或异常)等。
在实际使用中，可以通过用户输入第四输入操作(例如用户将鼠标悬停在机巢图标上，或通过鼠标单击地图中的机巢图标，或通过触控屏点击屏幕上的机巢图标)，来显示机巢状态和无人机状态。
在另一些实施例中，也可以是用户点击、单击或者悬停于机巢图标时，先显示机巢的状态，如果用户发现机巢状态正常，且机巢中具有空闲的无人机，再单击或点击机巢时，再显示无人机的状态。
在图13所示的实施例中，当用户点击机巢图标时，弹出一窗口，并在窗口上显示机巢状态和无人机状态。
用户可以根据自己将执行的飞行任务以及机巢的位置选择一或多个放置有空闲无人机的机巢。通过在显示屏显示地图及机巢位置，以及机巢状态和无人机状态，可以方便用户对无人机位置和飞行条件进行判断，从而选择出合适飞行任务的无人机。
当用户选定机巢和无人机后，可以通过管理平台的输入装置输入第二输入操作，向对应的机巢发送开机指令，以使机巢开启无人机。例如，可以通过鼠标单击显示屏上显示的“一键起飞”按钮，或者通过触控屏点击其上的“一键起飞”按钮，管理平台响应于该点击或者单击操作，生成开机指令，并将开机指令传送至机巢。
具体的，在一些实施例中，可以在机巢上设置按压机构，当机巢接收到开机指令时，指令按压机构对无人机的开机键进行按压操作，以使无人机开机。
1102：当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞。
在一些实施例中，无人机开机后可以进行自检测，例如检测各部件是否正常、电池温度是否过高、电池电量是否过低等。
自检成功后，向管理平台发送自检成功消息，或者，由机巢向管理平台发送无人机的自检成功消息。管理平台收到无人机的自检成功消息后，可以确定无人机能正常执行飞行任务。则，生成释放指令，并将释放指令发送给机巢，以使机巢释放对无人机的约束(例如打开机巢的盖体)，使无人机从机巢中起飞。
使无人机通过自检之后，再释放机巢对无人机的约束，使其起飞，可以降低无人机在飞行过程中因自身故障造成的飞行风险，且由管理平台对机巢进行自动控制，简单便捷。
在另一些实施例中，无人机自检成功后，也可以直接通知机巢无人机自检成功，机巢解除对无人机的约束，使无人机起飞。
若无人机自检失败，则无人机向管理平台发送自检失败消息，管理平台收到该消息后，提示用户该无人机异常，无法完成飞行任务，请用户重新选择其他无人机。
1103：响应于用户的第三输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
无人机起飞后，用户可以通过管理平台输入第三输入操作，对无人机的飞行状态进行控制，例如对无人机的飞行姿态、飞行方向等进行控制。其中，飞行方向例如上升、下降、左转和右转等。
其中，用户可以通过管理平台的键盘(例如上、下、左、右键)对无人机的飞行状态进行控制，则第三输入操作为用户敲击键盘的操作。在另一些实施例中，也可以在管理平台耦合的显示屏上显示无人机触控按键，通过用户利用鼠标对触控按键的单击操作来对无人机进行控制，则第三输入操作为对显示屏的单击操作。
本申请实施例的无人机管理控制方法，无人机可以放置于机巢中，由机巢进行无人机的日常维护(例如充电等)。当用户需利用无人机执行跟踪、拍摄等不固定航线的任务时，可以通过控制机巢使无人机起飞，并通过管理平台控制无人机的飞行，控制方法较为便捷。而且，通过机 巢进行无人机日常维护，可以降低管理和维护成本。
在一些实施例中，如果无人机在飞行过程中发现电量不足或者出现其他故障，可以进行智能返航，寻找合适的机巢进行降落。
在另一些实施例中，可以由用户通过管理平台输入第五输入操作，管理平台基于第五输入操作生成降落指令，管理平台将降落指令发送至无人机，无人机自动寻找合适的航线，并降落至机巢。
通常情况下，无人机需降落至原机巢，即与该无人机对应的机巢，在机巢通用的场合，也可以降落至任一空闲且处于打开状态的机巢。无人机降落至机巢后，机巢会关闭盖体，并开始为无人机充电。
例如，在管理平台耦合的显示屏上显示“一键返航”触控按键，通过触控该按键触发无人机返航。则第五输入操作为触控按键的操作，例如，用鼠标单击触控按键或用手指点击触控按键(此时显示屏为触控屏)。也可以在管理平台上设置一物理按键，通过触发该物理按键触发无人机返航。
在一些实施例中，在用户按下“一键返航”按键，无人机自动返航过程中，用户可以通过观看视频画面确定无人机是否能安全降落至机巢，如果无人机不能安全降落，则可以手动控制管理平台的输入装置，控制无人机返落至机巢，如果手动也无法完成降落至机巢的场合，也可以将无人机降落至机巢附近的空地上。
在另一些实施例中，也可以由管理平台对无人机的降落状态进行监控，当确定无人机不能安全降落时，发出告警信息，提示用户手动控制无人机降落机巢。
当然，也可以在无人机无法安全降落时，由无人机向管理平台发送求救信息，管理平台收到求救信息后，发出告警信息。
本申请实施例，由管理平台对无人机进行统一管理，管理平台可以根据实际需要，加入更多的无人机，或者减少无人机。为保证管理平台的网络安全，在机巢加入管理平台前，需进行安全验证。
例如，机巢请求加入管理平台时，需输入验证密码，只有输入正确的验证密码，才能实现机巢和管理平台的通信连接，该机巢才能显示在该管理平台的地图中。
图14示出了无人机管理控制方法的一具体实施例。在图14所示的实施例中，管理平台响应于用户的第二输入操作，生成开机指令，第二输入操作例如用户点击“一键起飞”触控按键。管理平台生成开机指令后，将开机指令发送给用户选择的机巢，该机巢使位于该机巢内的无人机开机。
无人机开机后自检，若自检成功，则向管理平台发送自检成功消息，管理平台接收到自检成功消息后，向机巢发送释放指令，以使机巢释放无人机。若无人机自检失败，则向管理平台发送自检失败消息，管理平台收到自检失败消息后，发出告警信息，提示用户其选择的无人机异常，用户可以重新选择其他无人机。
若无人机正常起飞，则用户可以通过向管理平台的输入装置输入第三输入操作，生成飞行控制指令，管理平台将飞行控制指令发送给无人机，指令无人机飞行。第三输入操作例如用户敲击键盘上的上、下、左、右键。
若无人机飞行过程中，发现自身异常或环境异常，可以返航进行迫降至原机巢或者其他空闲且处于打开状态的机巢。
当无人机执行完任务后，用户可以通过向管理平台输入第五输入操作，生成降落指令。第五输入操作，例如点击“一键降落”触控按键。管理平台将降落指令发送至无人机，无人机自动降落，在降落过程中不受管理平台控制，由无人机自行降落。但是，当无人机无法降落至机巢时，用户可以通过管理平台手动控制无人机降落至机巢。
以下说明管理平台下发任务至飞手，由飞手执行手动航线任务或自动航线任务的工作过程。
管理平台下发任务至服务器后，服务器对下发任务进行存储，飞手利用用户名和账号登陆APP，可以获得任务列表。图15示出了任务列表的一种形式。
飞手选择一个任务开始执行，若任务为自动路线任务，则无人机按照自动路线飞行，任务完成后返航。若飞行过程中发生严重异常，也将返航。
管理平台在其耦合的显示屏上显示无人机飞行画面，在无人机飞行 过程中，管理平台对其飞行进行监控，若管理平台确定无人机符合远程控制条件，则询问飞手是否同意移交飞行控制权，在飞手同意后，飞行控制权转移到管理平台。
本申请实施例还提供了一种无人机飞行控制方法，该方法可以由机巢(例如机巢中的第二控制器)执行，如图16所示，所述方法包括：
1601：接收管理平台发送的下发任务，所述下发任务包括飞行任务和飞行时间。
1602：当到达所述飞行时间时，开启所述机巢内的无人机。
1603：当所述机巢中的无人机状态正常时，释放对所述无人机的约束。
1604：将所述飞行任务发送至无人机，并指令所述无人机执行所述飞行任务。
管理平台将下发任务发送至机巢，机巢获取到下发任务后，对下发任务的执行时间进行监控，在未到达飞行时间时，无人机在机巢中关机充电，当到达飞行时间时，开启机巢内的无人机。
若无人机状态不正常，无人机或机巢会向管理平台报错。若无人机状态正常，机巢释放对无人机的约束。并将飞行任务发送至无人机，由无人机自动执行飞行任务。
在其中一些实施例中，通过无人机的自检程序确定无人机状态是否异常，无人机开机后进行自检，若自检成功，向机巢发送自检成功消息，机巢接收到无人机的自检成功消息后，可以确定无人机能正常执行飞行任务。则释放对无人机的约束(例如打开机巢的盖体)，使无人机从机巢中起飞。
无人机完成飞行任务后，降落至机巢中，机巢关闭无人机，并为无人机充电。若无人机无法正常降落至机巢，则机巢可以向管理平台报警，提示管理平台采用手动控制方案控制无人机降落。
本申请实施例的无人机管理控制方法和飞行控制方法，无人机可以放置于机巢中，由机巢进行无人机的日常维护(例如充电等)。并由机巢从管理平台获取任务并控制无人机起飞，控制方法较为便捷。而且，通过机巢进行无人机日常维护，可以降低管理和维护成本。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图2中的一个第一处理器22，可使得上述一个或多个处理器可执行上述任意方法实施例中的无人机管理控制方法或无人机飞行控制方法，例如，执行以上描述的图3中的方法步骤301至步骤302，图16中的步骤1601-1604。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被机器执行时，使所述机器执行上述的无人机管理控制方法或无人机飞行控制方法。例如，执行以上描述的图3中的方法步骤301至步骤302，图16中的步骤1601-1604。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供； 尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (14)

  1. 一种无人机管理控制方法，其特征在于，所述方法用于管理平台，所述管理平台分别与机巢和无人机通信连接，所述方法包括：
    获取无人机任务；
    响应于用户的第一输入操作，基于所述无人机任务获取下发任务，并将所述下发任务发送至机巢或服务器，其中，在将所述下发任务发送至服务器的场合，所述下发任务还包括飞手ID；
    所述服务器用于存储所述下发任务，飞手从服务器获取所述下发任务。
  2. 根据权利要求1所述的无人机管理控制方法，其特征在于，所述无人机任务包括无人机类型、航线类型和飞行任务，所述航线类型包括自动航线和手动航线。
  3. 根据权利要求1所述的无人机管理控制方法，其特征在于，所述方法还包括：显示无人机飞行画面；
    所述无人机飞行过程中，在所述无人机符合远程控制条件时，发送询问消息至飞手的遥控器，所述询问消息用于询问所述飞手是否同意远程控制所述无人机；
    在所述飞手同意远程控制所述无人机的情况下，远程控制所述无人机。
  4. 根据权利要求1所述的无人机管理控制方法，其特征在于，所述方法还包括：
    显示日历任务表，所述日历任务表包括日历信息和任务信息。
  5. 根据权利要求1所述的无人机管理控制方法，其特征在于，所述方法还包括：
    响应于用户的第二输入操作，向机巢发送开机指令，所述开机指令用于指示所述机巢开启所述无人机；
    当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，所述释放指令用于指示所述机巢释放对所述无人机的约束，以使所述无人机从所述机巢起飞；
    响应于用户的第三输入操作，生成飞行控制指令，所述飞行控制指令用于控制所述无人机的飞行状态，所述飞行状态包括飞行方向。
  6. 根据权利要求1所述的无人机管理控制方法，其特征在于，所述方法还包括：
    在所述管理平台耦合的显示屏上显示地图和位于所述地图中的至少一个机巢。
  7. 根据权利要求6所述的无人机管理控制方法，其特征在于，所述方法还包括：
    响应于用户的第四输入操作，在所述显示屏上显示所述机巢的状态和所述机巢中无人机的状态。
  8. 根据权利要求5所述的无人机管理控制方法，其特征在于，当所述机巢中的无人机状态正常时，向所述机巢发送释放指令，包括：
    接收所述无人机或所述机巢发送的无人机的自检成功消息，基于所述自检成功消息，生成所述释放指令；
    向所述机巢发送所述释放指令。
  9. 一种无人机飞行控制方法，用于机巢，其特征在于，所述方法包括：
    接收管理平台发送的下发任务，所述下发任务包括飞行任务和飞行时间；
    当到达所述飞行时间时，开启所述机巢内的无人机；
    当所述机巢中的无人机状态正常时，释放对所述无人机的约束；
    将所述飞行任务发送至无人机，并指令所述无人机执行所述飞行任务。
  10. 根据权利要求9所述的方法，其特征在于，所述当所述机巢中的无人机状态正常时，释放对所述无人机的约束，包括：
    当接收到所述无人机发送的自检成功消息时，释放对所述无人机的约束。
  11. 根据权利要求9或10所述的方法，其特征在于，所述方法还包括：
    在无人机降落至机巢后，关闭所述无人机，为所述无人机充电。
  12. 一种管理平台，其特征在于，所述管理平台包括：
    至少一个第一处理器，以及
    第一存储器，所述第一存储器与所述至少一个第一处理器通信连接，所述第一存储器存储有可被所述至少一个第一处理器执行的指令，所述指令被所述至少一个第一处理器执行，以使所述至少一个第一处理器能够执行权利要求1-8任一项所述的方法。
  13. 一种机巢，其特征在于，所述机巢包括：
    至少一个第二处理器，以及
    第二存储器，所述第二存储器与所述至少一个第二处理器通信连接，所述第二存储器存储有可被所述至少一个第二处理器执行的指令，所述指令被所述至少一个第二处理器执行，以使所述至少一个第二处理器能够执行权利要求9-11任意一项所述的方法。
  14. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被机器执行时，使所述机器执行如权利要求1-11任一项所述的方法。
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