WO2023143192A1 - Method and device for unmanned aerial vehicle to implement temporary flight task, and storage medium - Google Patents

Abstract

Provided is a method for an unmanned aerial vehicle to implement a temporary flight task. The method comprises: receiving a temporary flight task instruction, which is sent by a user; determining a temporary flight task route according to the temporary flight task instruction; and implementing a flight by taking the current flight point on a preset route as a start point of the temporary flight task route. Therefore, an unmanned aerial vehicle can execute a temporary flight task while flying on an original preset route.

Description

A method, device, and storage medium for realizing a temporary flight mission of an unmanned aerial vehicle

This application claims the priority of the Chinese patent application submitted to the China Patent Office on January 25, 2022, with the application number 2022100885349 and the application name "A Method, Equipment and Storage Medium for Realizing Temporary Flight Missions of Unmanned Aerial Vehicles". The entire contents are incorporated by reference in this application.

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a method, device and storage medium for realizing temporary flight missions of unmanned aerial vehicles.

Background technique

UAVs have good high-altitude flight and operation capabilities, and can effectively complete operations that cannot be completed by humans, such as high-altitude monitoring, high-altitude shooting, and long-distance delivery of items. In recent years, drones have been widely used in aerial photography, geological exploration, security monitoring and other fields.

The current UAVs start to take off after flying according to the pre-set route tasks. During the whole flight process, they fly according to the pre-set routes. New flight missions can only be carried out with a preset route, but in practice, some temporary flight missions only require the drone to perform flight missions in a short period of time, and the operator does not want to terminate the original flight route. Therefore above-mentioned temporary flight task can't be realized in the current unmanned aerial vehicle flight control process.

Contents of the invention

In order to overcome the deficiencies of the prior art, one of the purposes of the present invention is to provide a method for realizing the temporary flight mission of the UAV, which can solve the problem that the current temporary flight mission cannot be realized in the flight control process of the UAV.

The second object of the present invention is to provide an electronic device, which can solve the problem that current temporary flight missions cannot be realized during the flight control process of the UAV.

The third object of the present invention is to provide a computer-readable storage medium, which can solve the problem that current temporary flight missions cannot be realized in the flight control process of UAVs.

One of purpose of the present invention adopts following technical scheme to realize:

A method for realizing a temporary flight mission of an unmanned aerial vehicle, said method being applied to an unmanned aerial vehicle, comprising the following steps:

Receive temporary flight mission instructions sent by users;

A temporary flight mission route is determined according to the temporary flight mission instruction, and the current waypoint on the preset route is used as a starting point of the temporary flight mission route for flying.

Further, it also includes receiving an instruction of returning to the preset route sent by the user, returning to the preset route according to the instruction of returning to the preset route and continuing to fly on the preset route.

Further, the returning to the preset route according to the return to the preset route instruction and continuing to fly on the preset route specifically includes: obtaining the current flight position according to the return to the preset route instruction, and judging whether the current flight position is does not exceed the current waypoint on the preset route, if yes, use the previous waypoint of the current waypoint on the preset route as the return target waypoint, if not, then use the current waypoint as the return target waypoint , formulate a return route from the current flight position to the return target waypoint, return to the return target waypoint on the preset route according to the return route, and use the return target waypoint as the preset route Go to the starting point of the flight and continue flying.

Further, receiving the temporary flight mission instruction sent by the user further includes: receiving a preset route sent by the user, and flying according to the preset route.

Further, the temporary flight mission instruction includes flight strategy information and flight parameter information, and the determination of the temporary flight mission route according to the temporary flight mission instruction is specifically: according to the flight The strategy information and the flight parameter information designate the temporary flight mission route.

Further, the flight strategy information is a double-circle cross flight strategy or a circle flight strategy.

Further, when the flight strategy information is a double-circle cross flight strategy, the flight parameter information includes flight altitude, reference point distance, heading angle, and latitude and longitude of intersection; when the flight strategy information is a circle flight strategy, the The flight parameter information includes flight altitude, flight radius, and latitude and longitude of flight reference points.

Further, after the temporary flight mission route is determined, it also includes receiving a shooting angle adjustment command sent by the user, adjusting the current shooting angle according to the shooting angle adjustment command, and shooting the view area according to the adjusted current shooting angle.

Two of the purpose of the present invention adopts following technical scheme to realize:

An electronic device, comprising: a processor;

memory; and a program, wherein the program is stored in the memory and is configured to be executed by a processor, the program includes an implementation method for performing a temporary flight mission of an unmanned aerial vehicle described in this application .

Three of the purpose of the present invention adopts following technical scheme to realize:

A computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement a method for realizing a temporary flight mission of an unmanned aerial vehicle described in this application.

Compared with the prior art, the beneficial effect of the present invention is that: a method for realizing a temporary flight mission of an unmanned aerial vehicle disclosed in the present invention, by receiving the temporary flight mission instruction sent by the user, determines the route of the temporary flight mission according to the temporary flight mission instruction The current waypoint on the preset route is used as the starting point of the temporary flight mission route to fly, so that the UAV can perform temporary flight missions when flying on the original preset route.

The above description is only an overview of the technical solution of the present invention, in order to understand the technology of the present invention more clearly means, and can be implemented in accordance with the contents of the description, the preferred embodiments of the present invention and accompanying drawings are described in detail below. The specific embodiment of the present invention is given in detail by the following examples and accompanying drawings.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is the schematic flow chart of the realization method of a kind of unmanned aerial vehicle temporary flight task of the present invention;

Fig. 2 is the flight schematic diagram of carrying out surround flight strategy in the realization method of a kind of unmanned aerial vehicle temporary flight task of the present invention;

Fig. 3 is the flight schematic diagram of carrying out the double-surround cross flight strategy in the realization method of a kind of unmanned aerial vehicle temporary flight task of the present invention;

Fig. 4 is a schematic diagram of flight when performing a straight-line return flight strategy in a method for realizing a temporary flight mission of an unmanned aerial vehicle of the present invention;

Fig. 5 is a schematic diagram of the flight when the curve returns when executing the circumnavigation flight strategy in a method for realizing the temporary flight mission of the unmanned aerial vehicle of the present invention;

Fig. 6 is a schematic diagram of the flight when performing a double-surround cross-flight strategy in a straight-line return flight in a method for realizing a temporary flight mission of an unmanned aerial vehicle of the present invention;

Fig. 7 is a schematic diagram of the flight when the double-surround cross flight strategy is executed in the implementation method of the temporary flight mission of the unmanned aerial vehicle;

FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

In the attached drawings: 1. Current flight position; 2. Return target waypoint; 3. Preset route; 4. Temporary flight mission route; 5. Return route.

Detailed ways

Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. .

As shown in Figure 1, a kind of implementation method of unmanned aerial vehicle temporary flight task in the present embodiment, specifically comprises the following steps:

Receive the preset route sent by the user, and fly according to the preset route.

In this embodiment, the user can realize the flight control of the UAV through the UAV command center or the handheld remote control set on the ground. The above-mentioned command center is the control center equipped with the command terminal equipment for controlling the UAV. , both the command terminal device and the remote controller are control terminals with display screens, and corresponding physical control buttons can also be configured or corresponding virtual control buttons can be displayed on the display interface in the display screen. Both the display screen on the remote control and the display screen on the command terminal device will display the flight control interface. When the drone is not flying, the user can touch the flight control interface on the remote control or directly through the command center of the drone. Command the flight control interface on the terminal device to edit the preset route, specifically input the preset flight altitude, the starting point of the preset route, and perform route editing operations, so as to extend the preset route and pass the preset route through the remote control or The above-mentioned command terminal is sent to the UAV, and the UAV flies according to the preset route.

Receive temporary flight mission instructions sent by users.

In this embodiment, when the UAV is flying according to the preset route, the user can send a temporary flight mission to the UAV according to actual needs. Preset routes to fly; therefore, in this embodiment, the user sends temporary flight mission instructions to the UAV by touching the flight control interface on the remote controller or directly through the flight control interface on the command terminal device of the UAV command center. A virtual "temporary flight" is displayed on the flight control interface Mission button", after the user clicks the temporary flight mission button, he will enter the temporary flight mission instruction setting interface, and can edit the temporary flight mission instruction. In this embodiment, the temporary flight mission instruction includes flight strategy information and flight parameter information. The flight strategy information is Double-circle cross flight strategy or circle flight strategy, when the flight strategy information is a double-circle cross flight strategy, the flight parameter information includes flight altitude, reference point distance, heading angle, and intersection latitude and longitude; when the flight strategy information is a circle flight strategy, then The flight parameter information includes flight altitude, flight radius, and latitude and longitude of flight reference points.

The temporary flight mission route is determined according to the temporary flight mission instruction, and the current waypoint on the preset route is used as the starting point of the temporary flight mission route for flying. This step is specifically: first determine the temporary flight mission route according to the flight strategy information and flight parameter information selected by the user, then determine the specific position of the UAV when receiving the temporary flight mission instruction, and determine the preset route according to the specific position For the corresponding current waypoint, use the corresponding current waypoint on the preset route at this time as the starting point for the UAV to fly according to the temporary flight mission route.

The following explains the above two flight strategies:

1. Circle flight strategy: When the flight strategy information is circle flight strategy, the corresponding flight parameter information includes flight height, flight radius and flight reference point latitude and longitude. According to the altitude of the flight reference point, the center point of the orbiting flight is determined, and the flight radius is taken as the radius of the orbiting flight, and the temporary flight mission route can be obtained; as shown in Figure 2, the circular dotted line in Figure 2 is the temporary flight path of the UAV. Flight mission route, the five-pointed star is the center point of the orbiting flight, and the rectangular box represents the UAV.

2. Double-circle cross flight strategy: When the flight strategy information is a double-circle cross flight strategy, the corresponding flight parameter information includes flight altitude, reference point distance, heading angle, and intersection latitude and longitude. In this embodiment, double-circle cross flight That is, the flight trajectory is a trajectory composed of two circular estimated intersections, the distance of the reference point is the distance between the center points of the two circular trajectories, and the longitude and latitude of the intersection point are the coordinates of the two circular intersections According to the longitude and latitude of the point, the temporary flight mission route can be determined according to the longitude and latitude of the intersection point and the distance of the reference point, and then the UAV is controlled to use the flight height as the actual flight height, and the heading angle as the actual heading angle to fly according to the temporary flight mission route. Specifically, as shown in Figure 3, the dotted line in Figure 3 is the temporary flight mission route at this time, the rectangular frame represents the drone, and the triangular frame represents the center points of the two rings.

Preferably, the present invention further includes receiving an instruction of returning to the preset route sent by the user, returning to the preset route according to the instruction of returning to the preset route and continuing to fly on the preset route. In the present invention, it is up to the user whether the temporary flight mission performed by the UAV is over, that is, the temporary flight mission instruction may not include the mission execution time. When flying on the original preset route, the user can trigger the return to the preset route by touching the flight control interface on the remote control or directly through the virtual button "return to the preset route" on the flight control interface on the command terminal device of the UAV command center. Set the route command, at this time the preset route command will be sent to the drone. According to the command of returning to the preset route, the UAV obtains the current flight position corresponding to the end of the temporary flight mission of the UAV, and judges whether the current flight position does not exceed the current waypoint on the preset route. If so, put the current waypoint on the preset route If not, use the current waypoint as the return target waypoint, formulate a return route from the current flight position to the return target waypoint, and return to the preset route according to the return route At the return target waypoint, the return target waypoint will be used as the starting point of the flight on the preset route to continue flying. Therefore, the UAV will continue to fly on the preset route after performing the temporary flight mission without starting To re-fly at the starting point of the route, you only need to fly from a position close to the current waypoint where the temporary flight mission is performed or directly at the current waypoint to avoid troubles caused by re-flying.

In this embodiment, the return route can be a curved route or a straight route. Specifically, calculate the distance between the current flight position and the return target waypoint and the airspace environment of the UAV flight according to the actual situation to specify the shortest flight time between the two. return route. The following examples illustrate:

1. When the flight strategy information is a circle flight strategy and the return route is a straight route, as shown in Figure 4 shows that the temporary flight mission route 4 is a circular route, and the current flight position is a position on the temporary flight mission route 4. At this time, the UAV flies from the current flight position 1 to the return target waypoint 2 on the preset route 3, The route for the UAV to return to the home point of the return target is the return route 5. At this time, the return route is a straight line connecting the current flight position 1 and the return target waypoint 2.

2. When the flight strategy information is a circle flight strategy and the return route is a curved route, as shown in Figure 5, the temporary flight mission route 4 is a circular route, and the current flight position is a position on the temporary flight mission route 4. When the UAV flies from the current flight position 1 to the return target waypoint 2 on the preset route 3, the route for the UAV to return to the return target return point is the return route 5. At this time, the return route is the current flight position 1 and The curve formed by connecting 2 waypoints of the return target.

3. When the flight strategy information is a double-surround cross flight strategy and the return route is a straight route, as shown in Figure 6, the temporary flight mission route 4 is a double-circular route, and the current flight position 1 is on the temporary flight mission route 4 At this time, the drone flies from the current flight position 1 to the return target waypoint 2 on the preset route 3, and the route for the drone to return to the return target return point is the return route 5. At this time, the return route It is the straight line connecting the current flight position 1 and the return target waypoint 2.

4. When the flight strategy information is a double-surround crossing flight strategy and the return route is a curved route, as shown in Figure 7, the temporary flight mission route 4 is a double-circular route, and the current flight position 1 is on the temporary flight mission route 4 At this time, the drone flies from the current flight position 1 to the return target waypoint 2 on the preset route 3, and the route for the drone to return to the return target return point is the return route 5. At this time, the return route It is the curve formed by connecting the current flight position 1 and the return target waypoint 2.

Preferably, after determining the route of the temporary flight mission, it also includes receiving a shooting angle adjustment instruction sent by the user, adjusting the current shooting angle according to the shooting angle adjustment instruction, and shooting the view area according to the adjusted current shooting angle. In this embodiment, the above-mentioned current shooting angle is the angle at which the UAV shoots the visible area, specifically including the pitch angle of the UAV shooting platform pitch angle Pitch(-90° ~30°), heading angle Yaw(-180～180°), roll angle ROLL(-10°～10°).

The present invention also provides an electronic device. FIG. 8 is a schematic structural diagram of the electronic device according to an embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.

As shown in FIG. 8, the electronic device may include: a processor (processor) 101, a communication interface (Communications Interface), a memory (memory), and a communication bus.

Wherein: the processor, the communication interface, and the memory complete the mutual communication through the communication bus. The communication interface is used to communicate with network elements of other devices such as clients or other servers. The processor is used to execute the program, specifically, it can execute the relevant steps in the embodiment of the above-mentioned method for realizing the temporary flight mission of the UAV. Specifically, the program may include program code including computer operation instructions.

The processor may be a central processing unit CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the network slicing device may be of the same type, such as one or more CPUs, or may be different types of processors, such as one or more CPUs and one or more ASICs. Memory for storing programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. Specifically, the program can be used to make the processor execute a method for realizing a temporary flight mission of the UAV in any of the above method embodiments.

The present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to realize a method for realizing a temporary flight mission of a UAV in the present application.

A method for realizing a temporary flight mission of an unmanned aerial vehicle disclosed in the present invention, by receiving the temporary flight mission instruction sent by the user, the temporary flight mission route is determined according to the temporary flight mission instruction, and the current waypoint on the preset route is used as a temporary Fly at the starting point of the flight mission route, realizing the drone Temporary flight missions can be performed when flying on the original preset route, and the UAV continues to fly on the preset route after performing the temporary flight mission. There is no need to re-fly from the starting point of the preset route. The temporary flight mission is at the position of the current waypoint or directly at the current waypoint to avoid the trouble caused by re-flying.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form; all those skilled in the art can smoothly implement the present invention as shown in the accompanying drawings and above; however, all Those skilled in the art who make use of the above-disclosed technical content within the scope of the technical solutions of the present invention to make some changes, modifications and equivalent changes are all equivalent embodiments of the present invention; meanwhile, Any equivalent changes, modifications and evolutions made to the above embodiments based on the substantive technology of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A method for realizing a temporary flight mission of an unmanned aerial vehicle, said method being applied to an unmanned aerial vehicle, characterized in that it comprises the following steps:

   Receive temporary flight mission instructions sent by users;

   A temporary flight mission route is determined according to the temporary flight mission instruction, and the current waypoint on the preset route is used as a starting point of the temporary flight mission route for flying.
2. A method for realizing a temporary flight mission of an unmanned aerial vehicle according to claim 1, further comprising: receiving a return to a preset route instruction sent by a user, returning to a preset route according to the return to a preset route instruction and continuing Fly on a preset route.
3. A method for realizing a temporary flight mission of an unmanned aerial vehicle as claimed in claim 2, wherein: returning to the preset route according to the instruction of returning to the preset route and continuing to fly on the preset route is specifically: Obtain the current flight position according to the instruction of returning to the preset route, judge whether the current flight position does not exceed the current waypoint on the preset route, and if so, use the previous waypoint of the current waypoint on the preset route as the Return to the target waypoint, if not, use the current waypoint as the return target waypoint, formulate a return route from the current flight position to the return target waypoint, and return to the preset route according to the return route On the return target waypoint above, use the return target waypoint as the starting point of flying on the preset route to continue flying.
4. The method for realizing a temporary flight mission of an unmanned aerial vehicle according to claim 1, characterized in that: before receiving the temporary flight mission instruction sent by the user, it also includes: receiving a preset route sent by the user, and according to the preset Set up the route to fly.
5. A method for realizing a temporary flight mission of an unmanned aerial vehicle according to claim 1, wherein the temporary flight mission instruction includes flight strategy information and flight parameter information, and the temporary flight mission is determined according to the temporary flight mission instruction. The task route is specifically: according to the flight strategy information and the flight Line parameter information specifies the route of the temporary mission.
6. The method for realizing a temporary flight mission of an unmanned aerial vehicle as claimed in claim 5, wherein the flight strategy information is a double-circle cross flight strategy or a circle flight strategy.
7. A method for realizing a temporary flight mission of an unmanned aerial vehicle as claimed in claim 6, wherein when the flight strategy information is a double-circle cross flight strategy, the flight parameter information includes flight altitude, reference point distance, The heading angle and the latitude and longitude of the crossing point; when the flight strategy information is a circle flight strategy, the flight parameter information includes flight altitude, flight radius and the latitude and longitude of the flight reference point.
8. The method for realizing a temporary flight mission of an unmanned aerial vehicle according to claim 1, characterized in that: after determining the route of the temporary flight mission, it also includes receiving a shooting angle adjustment instruction sent by the user, and adjusting according to the shooting angle Command to adjust the current shooting angle, and shoot the view area according to the adjusted current shooting angle.
9. An electronic device, characterized by comprising: a processor;

   memory; and a program, wherein the program is stored in the memory and is configured to be executed by a processor, the program comprising a drone for performing any one of claims 1-8 The realization method of the temporary flight mission.
10. A computer-readable storage medium on which a computer program is stored, characterized in that: the computer program is executed by a processor according to any one of claims 1-8. A method for realizing a temporary flight mission of an unmanned aerial vehicle .