WO2023193604A1 - Procédé de planification en ligne de tâche d'itinéraire et appareil associé - Google Patents

Procédé de planification en ligne de tâche d'itinéraire et appareil associé Download PDF

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Publication number
WO2023193604A1
WO2023193604A1 PCT/CN2023/083224 CN2023083224W WO2023193604A1 WO 2023193604 A1 WO2023193604 A1 WO 2023193604A1 CN 2023083224 W CN2023083224 W CN 2023083224W WO 2023193604 A1 WO2023193604 A1 WO 2023193604A1
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WIPO (PCT)
Prior art keywords
task
mission
instruction
unmanned aerial
flight
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Application number
PCT/CN2023/083224
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English (en)
Chinese (zh)
Inventor
冯银华
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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 WO2023193604A1 publication Critical patent/WO2023193604A1/fr

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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
    • G05D1/08—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 present application relates to the technical field of unmanned aerial vehicles, and in particular to an online planning method for route missions and related devices.
  • the route mission of the drone is generally planned in advance.
  • the route mission is planned in advance through the remote control, or the planned route mission is imported to the remote control through the computer.
  • the remote controller sends the route task to the drone, so that the drone can perform the route task, so that the drone can only perform a single task during the flight, resulting in insufficient scheduling efficiency of the drone.
  • Embodiments of the present application provide an online planning method for route missions and related devices. By temporarily planning a new mission while the unmanned aerial vehicle is in the flight process of a certain mission, the unmanned aerial vehicle Perform new tasks to solve the problem of insufficient scheduling efficiency caused by unmanned aerial vehicles that can only perform a single task during flight, and improve the scheduling efficiency of unmanned aerial vehicles.
  • inventions of the present application provide an online planning method for route tasks.
  • the method includes:
  • a second mission instruction is generated, where the second task instruction corresponds to the second task;
  • generating a second task instruction in response to operating the user interface of the remote control device, includes:
  • the mission type of the second mission includes a waypoint mission
  • the method further includes: after determining that the second mission is a waypoint mission, entering the mission flight interface;
  • Obtain task information corresponding to the task type and generate second task instructions including:
  • the mission flight interface In response to the first operation on the mission flight interface, determine mission information corresponding to the waypoint mission, wherein the mission information corresponding to the waypoint mission includes waypoint coordinates of multiple waypoints;
  • generating the route path of the second mission based on the waypoint coordinates of multiple waypoints to obtain the second mission instructions includes:
  • the temporary route preview interface is entered.
  • the temporary route preview interface is used to confirm the parameters corresponding to the route path of the second task.
  • the parameters corresponding to the route path of the second task include the corresponding parameters of each waypoint. waypoint information;
  • the second task instruction is obtained.
  • the mission type of the second mission includes a regional flight mission
  • the method further includes: after determining that the second mission is a regional flight mission, entering the mission flight interface;
  • Obtain task information corresponding to the task type and generate second task instructions including:
  • the mission information corresponding to the regional flight mission is determined to obtain the second mission instruction, wherein the mission information corresponding to the regional flight mission includes location information of the first region, and the first region is the regional flight The flight area corresponding to the mission.
  • determining the mission information corresponding to the regional flight mission to obtain the second mission instruction includes:
  • the coordinates of the center of the area generate an area consisting of a preset length and a preset width in the mission flight interface, and use this area as the first area;
  • the length and/or width of the first area is adjusted to determine the position information of the first area and obtain the second mission instruction.
  • the mission type of the second mission includes an electronic fence mission
  • the method further includes: after determining that the second task is an electronic fence mission, entering the mission flight interface;
  • Obtain task information corresponding to the task type and generate second task instructions including:
  • task information corresponding to the electronic fence task is determined to obtain the second task instruction, wherein the task information corresponding to the electronic fence task includes location information of the second area, and the second area is the electronic fence.
  • the no-fly zone corresponding to the task is determined to obtain the second task instruction, wherein the task information corresponding to the electronic fence task includes location information of the second area, and the second area is the electronic fence.
  • the task type of the second task includes a historical task
  • the method further includes: after determining that the second task is a historical task, entering the historical record interface;
  • Obtain task information corresponding to the task type and generate second task instructions including:
  • inventions of the present application provide an online planning method for route tasks.
  • the method includes:
  • the first task is suspended and the second task is executed.
  • the second task instruction includes multiple second tasks. According to the second task instruction, the first task is suspended and the second task is executed, including:
  • multiple second tasks are executed one by one.
  • multiple second tasks correspond to one task file, each second task corresponds to a file header and a file content, and the execution order of the multiple second tasks is determined, including:
  • the execution order of the plurality of second tasks is determined according to the order of the plurality of file headers.
  • inventions of the present application provide an online planning device for route tasks.
  • the device includes:
  • a task generation module configured to generate a second task instruction in response to an operation on the user interface of the remote control device during the flight of the unmanned aerial vehicle in the first task, where the second task instruction corresponds to the second task;
  • a task sending module is used to send a second task instruction to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • inventions of the present application provide an online planning device for route tasks.
  • the device includes:
  • a task acquisition module configured to acquire a second task instruction sent by the remote control device while the unmanned aerial vehicle is in flight on the first task, where the second task instruction corresponds to the second task;
  • the task execution module is used to suspend the first task and execute the second task according to the second task instruction.
  • a remote control device including:
  • an unmanned aerial vehicle including:
  • a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor, so that at least one processor can be used to perform route tasks such as the second aspect online planning method.
  • embodiments of the present application provide an online planning system for route tasks, including:
  • embodiments of the present application provide a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program causes the computer to execute part or all of the steps described in the first or second aspect. Step instructions.
  • embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause the computer to execute the first aspect or the second aspect. Some or all of the steps described in the aspect.
  • the computer program product may be a software installation package.
  • An embodiment of the present application provides an online planning method for a route mission.
  • the method includes: while the unmanned aerial vehicle is in the flight process of the first mission, generating a second mission instruction in response to an operation on the user interface of the remote control device, wherein , the second task instruction corresponds to the second task; the second task instruction is sent to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • Figure 2 is a schematic flowchart of an online planning method for route tasks provided by an embodiment of the present application
  • Figure 3 is a schematic diagram of a user interface provided by an embodiment of the present application.
  • FIG. 4 is a detailed flow chart of step S201 in Figure 2;
  • Figure 5 is a schematic diagram of a task editing interface provided by an embodiment of the present application.
  • Figure 6 is a first flow chart for generating a second task instruction provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of the first mission flight interface provided by the embodiment of the present application.
  • FIG 8 is a detailed flow chart of step S602 in Figure 6;
  • Figure 9 is a schematic diagram of a temporary route preview interface provided by an embodiment of the present application.
  • Figure 10 is a second flow chart for generating a second task instruction provided by an embodiment of the present application.
  • FIG 11 is a detailed flow chart of step S101 in Figure 10;
  • Figure 12 is a schematic diagram of the second mission flight interface provided by the embodiment of the present application.
  • Figure 13 is a third flow chart for generating a second task instruction provided by an embodiment of the present application.
  • Figure 14 is a schematic diagram of the third mission flight interface provided by the embodiment of the present application.
  • Figure 15 is a fourth flow chart for generating a second task instruction provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of the history recording interface provided by the embodiment of the present application.
  • Figure 17 is a schematic flowchart of another online planning method for route tasks provided by an embodiment of the present application.
  • Figure 18 is a flow chart for performing the second task provided by the embodiment of the present application.
  • Figure 19 is a flow chart for determining the execution order of the second task provided by the embodiment of the present application.
  • Figure 20 is a schematic flowchart of another online planning method for route tasks provided by an embodiment of the present application.
  • Figure 21 is a schematic structural diagram of an online planning device for route tasks provided by an embodiment of the present application.
  • Figure 22 is a schematic structural diagram of another online planning device for route tasks provided by an embodiment of the present application.
  • Figure 23 is a schematic structural diagram of a remote control device provided by an embodiment of the present application.
  • Figure 24 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • Figure 25 is a schematic structural diagram of an online planning system for route tasks provided by an embodiment of the present application.
  • Figure 26 is a schematic structural diagram of another online planning system for route tasks provided by an embodiment of the present application.
  • Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the application scenario includes an unmanned aerial vehicle 100 and a remote control device 200.
  • the unmanned aerial vehicle 100 communicates with the remote control device 200.
  • the unmanned aerial vehicle 100 communicates with the remote control device 200 through wireless network communication, and the pilot or user
  • the operable remote control device 200 operates the unmanned aerial vehicle 100 over a wireless network.
  • the unmanned aerial vehicle 100 includes: multi-rotor UAVs, fixed-wing UAVs, unmanned helicopters, hybrid-wing UAVs and other unmanned aerial vehicles.
  • the unmanned aerial vehicle 100 may also be an unmanned aerial vehicle driven by any type of power, including but not limited to rotary-wing unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, parachute-wing unmanned aerial vehicles, or flapping-wing unmanned aerial vehicles. Man-machine and helicopter models, etc.
  • a hybrid-wing UAV is taken as an example for description.
  • the unmanned aerial vehicle 100 can have corresponding volume or power according to the needs of actual situations, thereby providing load capacity, flight speed, flight cruising range, etc. that can meet the needs of use.
  • One or more sensors can also be added to the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 can collect corresponding data.
  • the UAV 100 is provided with at least one sensor among an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.
  • a sensor among an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.
  • the UAV 100 also includes a flight controller, which serves as the control core for UAV flight and data transmission, integrating one or more modules to execute corresponding logic control programs.
  • a flight controller which serves as the control core for UAV flight and data transmission, integrating one or more modules to execute corresponding logic control programs.
  • the unmanned aerial vehicle includes an unmanned aerial vehicle control system
  • the unmanned aerial vehicle control system includes a state machine, a flight controller, an unmanned aerial vehicle power system, and unmanned aerial vehicle sensors.
  • the UAV control system includes: a state machine, a flight controller and a UAV power system.
  • the state machine connects the flight controller and the UAV power system, and the input of the state machine is navigation data and user interaction. Commands are output as control instructions and corresponding flags.
  • the main function of the state machine is to process user interaction commands and use navigation data to implement various functions of the drone, such as flight mode switching, status monitoring, waypoint flight, return to home and other upper-level functions.
  • the user interaction command is Interaction commands issued by ground users, such as: remote control stick measurement data, button control commands and other commands, it can be understood that this application is mainly implemented in a state machine.
  • the control commands and corresponding flags output by the state machine include position command, speed command, acceleration command, altitude command, climb rate command, climb acceleration command, attitude angle command, heading angle rate command, attitude mode flag and position. Mode flag.
  • the flight controller is connected to the state machine and the flight controller, and is used to receive control commands and corresponding flag bits sent by the state machine, receive navigation data sent by the UAV power system, and output motor speed control commands, where,
  • the flight controller includes two flight modes, namely position mode and attitude mode.
  • the main function of the flight controller is to use control commands and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can achieve position and attitude control, that is, the aircraft can position and posture to achieve the desired state.
  • the battery speed control command taking a common rotorcraft as an example, the data is the pulse width modulation (Pulse Width Modulation, PWM) of the control motor.
  • PWM Pulse Width Modulation
  • the UAV power system is connected to the flight controller.
  • the UAV power system includes the UAV's execution system and status monitoring system, which is used to receive the motor speed control command sent by the flight controller and achieve the corresponding speed, thereby Realize the corresponding attitude angle and position, process the sensor data, and calculate the navigation data indirectly or directly.
  • the UAV power system uses a fusion algorithm to process UAV sensor data to obtain navigation data.
  • the drone power system includes GPS, gyroscope, accelerometer, and magnetometer. The position, speed, and acceleration data of the drone can be calculated through GPS, gyroscope, accelerometer, and magnetometer.
  • the position, speed, and acceleration data of the drone can be calculated through binocular vision, gyroscope, accelerometer, and magnetometer.
  • the attitude angle and attitude angular rate of the drone can be calculated through the gyroscope, accelerometer and magnetometer.
  • the remote control device 200 includes a smart terminal, where the smart terminal can be any type of smart device used to establish a communication connection with the unmanned aerial vehicle 100, such as a mobile terminal such as a mobile phone, a tablet computer, or a smart remote control.
  • the remote control device 200 may be equipped with one or more different user interaction devices to collect user instructions or display and feedback information to the user.
  • the remote control device 200 includes a terminal device, where the terminal device includes a computer device, a PC, etc. A device that establishes a communication connection with the unmanned aerial vehicle 100.
  • the terminal device may be equipped with one or more different user interaction devices to collect user instructions or display and feedback information to the user.
  • the above-mentioned user interaction devices include but are not limited to: buttons, mice, keyboards, display screens, touch screens, speakers, remote control joysticks and other devices.
  • the remote control device 200 may be equipped with a touch display screen, through which it receives the user's remote control instructions for the unmanned aerial vehicle 100 and displays map information, that is, map images, and aerial photography to the user through the touch display screen.
  • map information that is, map images, and aerial photography to the user through the touch display screen.
  • the obtained image information that is, the image transmission screen
  • the user can also switch the image information currently displayed on the display screen through the remote control touch screen.
  • the user can also control the movement of the unmanned aerial vehicle through mouse operations or keyboard key operations, or control the unmanned aerial vehicle.
  • existing image vision processing technology can also be integrated between the unmanned aerial vehicle 100 and the remote control device 200 to further provide more intelligent services.
  • the unmanned aerial vehicle 100 can collect images through a dual-light camera, and the remote control device 200 can analyze the images, thereby realizing the user's gesture control of the unmanned aerial vehicle 100 .
  • the wireless network may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, and a wireless cellular network located in different signal frequency bands. or a combination thereof.
  • Figure 2 is a schematic flow chart of an online planning method for route tasks provided by an embodiment of the present application
  • the online planning method of the route task can be applied to the remote control device or the terminal device.
  • the execution subject of the online planning method of the route task is one or more processors of the remote control device or the terminal device.
  • remote control equipment includes but is not limited to remote controls, mobile terminals, tablet computers and other equipment
  • terminal equipment includes but is not limited to fixed terminals, such as computer equipment, servers and other equipment.
  • the route The online planning method of the mission is applied to a remote control device that is communicatively connected to the unmanned aerial vehicle.
  • the online planning method for this route task includes:
  • Step S201 During the flight of the unmanned aerial vehicle in the first mission, in response to the operation of the user interface of the remote control device, generate a second mission instruction, where the second task instruction corresponds to the second task;
  • the user operates the user interface of the display screen of the remote control device, triggering the generation of a second task instruction, where the second task instruction is used to cause the unmanned aerial vehicle to perform the second task.
  • the second task corresponding to the task instruction.
  • Figure 3 is a schematic diagram of a user interface provided by an embodiment of the present application.
  • the user interface includes a main interface.
  • the main interface is used to present a regional map of the location of the unmanned aerial vehicle.
  • the route trajectory of the first mission of the unmanned aerial vehicle is displayed on the regional map.
  • the route trajectory displays each The location of a waypoint.
  • the main interface also includes a new task control and a return to the main interface control.
  • the new task control is used to enter the task editing mode.
  • main interface also includes other controls, such as positioning controls, camera controls, setting controls, etc., which will not be described one by one here.
  • Step S2011 In response to the first operation on the user interface, enter the task editing mode, where the first operation is used to trigger the remote control device to enter the task editing interface;
  • the first operation in response to the first operation of creating a new task control on the user interface, includes a voice instruction or a gesture operation, such as a click operation, a long press operation, a sliding operation, a dragging operation and other gesture operations.
  • a voice instruction or a gesture operation such as a click operation, a long press operation, a sliding operation, a dragging operation and other gesture operations.
  • the remote control device when the user clicks on the new task control, that is, after performing a click operation, the remote control device enters the task editing mode in response to the click operation, that is, enters the task editing interface.
  • Step S2012 In response to the selection operation on the task editing interface, determine the task type of the second task type
  • Figure 5 is a schematic diagram of a task editing interface provided by an embodiment of the present application.
  • Each task icon corresponds to a task type, for example: waypoint
  • the task icon corresponds to the waypoint task
  • the regional flight task icon corresponds to the regional flight task
  • the electronic fence task icon corresponds to the electronic fence task
  • the import historical task icon corresponds to the import historical task.
  • the remote control device When a certain icon is operated, the remote control device enters the mission flight interface in response to the operation of the icon, and the user's operation of the mission flight interface generates a second mission instruction.
  • the mission flight interface is entered.
  • Step S2013 Obtain task information corresponding to the task type and generate a second task instruction.
  • the mission type is waypoint mission:
  • Figure 6 is a flow chart for generating a second task instruction according to an embodiment of the present application.
  • the first process of generating second task instructions includes:
  • Step S601 In response to the first operation on the mission flight interface, determine the mission information corresponding to the waypoint mission, where the mission information corresponding to the waypoint mission includes waypoint coordinates of multiple waypoints;
  • the user determines the mission information corresponding to the waypoint mission through the first operation on the mission flight interface, where the first operation on the mission flight interface includes a click operation, and the remote control device responds to the operation on the mission flight interface.
  • Multiple click operations on the flight interface determine the waypoint coordinates of multiple waypoints, where each click operation corresponds to a waypoint, and the waypoint corresponds to a location on the regional map.
  • Step S602 Generate the route path of the second mission according to the waypoint coordinates of the multiple waypoints to obtain the second mission instruction;
  • the waypoint coordinates of multiple waypoints are determined on the regional map, and the order of each waypoint is determined based on the waypoint coordinates of the multiple waypoints and the click time of each click operation, thereby generating the second task. route path.
  • Figure 7 is a schematic diagram of the first mission flight interface provided by an embodiment of the present application.
  • the route path of the first task is different from the route path of the second task.
  • the route path of the second task includes waypoint 1, waypoint 2, waypoint 3 and waypoint 4.
  • the route path of the second task is generated by the route algorithm library pre-stored by the remote control device, and the route path is a real-time route path.
  • the route algorithm library is used to receive the coordinate positions of multiple waypoints, the current position of the UAV, and the return point information, and plan the trajectory coordinates of the UAV's real-time flight, as shown in Figure 7 for the route path of the second mission.
  • this step S602 includes:
  • Step S6021 After generating the route path of the second task, enter the temporary route preview interface, where the temporary route preview interface is used to confirm the parameters corresponding to the route path of the second task.
  • the parameters corresponding to the route path of the second task include each Waypoint information corresponding to the waypoint;
  • Figure 9 is a schematic diagram of a temporary route preview interface provided by an embodiment of the present application.
  • the temporary route preview interface is used to display the route path of the first task, the route path of the second task, and the waypoint information of each waypoint of the second task, where the waypoint information includes the waypoint information.
  • the waypoint information of all waypoints can be displayed in the temporary route preview interface.
  • the temporary route preview interface includes a first preview interface.
  • the first preview interface is used to present the waypoint information of the waypoints. Since the first preview The size of the interface is limited, so you can switch between different waypoints
  • the first preview interface displays the waypoint information of one waypoint one by one.
  • Step S6022 In response to the task execution operation on the temporary route preview interface, obtain the second task instruction.
  • the temporary route preview interface includes a takeoff control.
  • the task execution operation is used to trigger the takeoff control.
  • the task information corresponding to the current second task is saved to obtain the second task instruction.
  • the mission type is a regional flight mission:
  • Figure 10 is a second flow chart for generating a second task instruction provided by an embodiment of the present application.
  • the second process of generating second task instructions includes:
  • Step S101 In response to the second operation on the mission flight interface, determine the mission information corresponding to the regional flight mission to obtain the second mission instruction, wherein the mission information corresponding to the regional flight mission includes location information of the first region, and the first region It is the flight area corresponding to the regional flight mission.
  • the user determines the mission information corresponding to the regional flight mission through the second operation on the mission flight interface, where the second operation on the mission flight interface includes a click operation, and the remote control device responds to the operation on the mission flight interface.
  • the click operation on the flight interface determines the location information of the first area corresponding to the regional flight mission, where the first area is the flight area corresponding to the regional flight mission.
  • this step S101 includes:
  • Step S1011 In response to the second operation on the mission flight interface, determine the regional center coordinates of the first area
  • the second operation includes a click operation.
  • the corresponding map location of the clicked location is determined on the regional map, and the map location is used as the regional center of the first area, and The area center coordinates of the area center of the first area are determined.
  • Step S1012 According to the regional center coordinates, generate a preset length and a predetermined length in the mission flight interface. Set the area consisting of width, and use this area as the first area;
  • an area consisting of a preset length and a preset width is automatically generated with the map location as the center.
  • the area is a rectangle or a square. This area serves as the first area. For example, if the user clicks on a point on the area map, four vertices of a square 300 meters long and 300 meters wide will be generated by default with this point as the center, and the four vertices will be formed into The area is determined as the first area.
  • Figure 12 is a schematic diagram of the second mission flight interface provided by the embodiment of the present application.
  • the first area is a rectangular area composed of a preset length and a preset width, and the center of the area is the location where the user clicks.
  • the preset length and the preset width are set according to specific needs and are not limited here.
  • the preset length is 300M and the preset width is 200M.
  • Step S1013 In response to the operation of the first area in the mission flight interface, adjust the length and/or width of the first area to determine the position information of the first area and obtain the second mission instruction.
  • the position and/or length and/or width of the first area are adjusted in response to a drag operation or sliding operation on the box where the first area is located in the mission flight interface, for example:
  • the first area corresponds to four vertices and four sides.
  • the length and width of the first area are enlarged or reduced in the same proportion; when the user drags the location of a certain side, When dragging, the corresponding length or width is increased or decreased; when the user drags the center of the region or the location of a non-vertex or non-edge, the position of the center of the first region is adjusted and the position of the first region is maintained.
  • the length and width remain unchanged, thereby adjusting the position of the first area in the area map.
  • the remote control device After determining the position of the first area in the regional map, the remote control device calls the route trajectory algorithm to generate the route trajectory of the first area based on the positions of the four vertices of the first region, and plans the route trajectory on the regional map. Among them, the route trajectory is located at the location of the first area. That is to say, the first area is used to set the flight area of the unmanned aerial vehicle to the corresponding first area in the regional map. position, the mission flight interface also includes a takeoff control. After the takeoff control is triggered, the remote control device saves the mission information corresponding to the route trajectory of the first area and generates a second mission instruction.
  • the task type is electronic fence task:
  • Figure 13 is a third flow chart for generating a second task instruction provided by an embodiment of the present application.
  • the third process of generating second task instructions includes:
  • Step S131 In response to the third operation on the mission flight interface, determine the task information corresponding to the electronic fence task to obtain the second task instruction, wherein the task information corresponding to the electronic fence task includes location information of the second area, and the second area It is the no-fly zone corresponding to the electronic fence task.
  • the remote control device determines the location information of the second area corresponding to the electronic fence task, where the second area is the no-fly corresponding to the electronic fence task. area.
  • the region center coordinates of the second area are determined, and based on the region center coordinates, a region consisting of a preset length and a preset width is generated in the mission flight interface, and the region is as the second area.
  • the third operation includes a click operation.
  • the map location corresponding to the clicked location is determined on the regional map, and the map location is used as the regional center of the second area, and the The area center coordinates of the area center of the second area.
  • an area consisting of a preset length and a preset width is automatically generated with the map location as the center.
  • the area is a rectangle or a square. This area is used as the second area. For example, by clicking a point on the regional map, the user will generate four vertices of a square with a length of 300 meters and a width of 300 meters by default with this point as the center, and the four vertices will be formed into The area is determined as the second area.
  • Figure 14 is a schematic diagram of the third mission flight interface provided by the embodiment of the present application. picture;
  • the second area is a rectangular area composed of a preset length and a preset width, and the center of the area is the location where the user clicks.
  • the preset length and the preset width are set according to specific needs and are not limited here.
  • the preset length is 300M and the preset width is 200M.
  • methods also include:
  • the length and/or width of the second area is adjusted to determine the position information of the second area and obtain the second mission instruction.
  • the position and/or length and/or width of the second area are adjusted in response to a drag operation or sliding operation on the box where the second area is located in the mission flight interface, for example:
  • the second area corresponds to four vertices and four sides.
  • the length and width of the second area are enlarged or reduced in the same proportion; when the user drags the location of a certain side, When dragging, the corresponding length or width is increased or decreased; when the user drags the center of the region or the position of a non-vertex or non-edge, the position of the center of the second region is adjusted and the position of the second region is maintained.
  • the length and width remain unchanged, thereby adjusting the position of the second area in the area map.
  • the remote control device After determining the position of the second area in the regional map, the remote control device calls the route trajectory algorithm to generate a route trajectory based on the positions of the four vertices of the second region, and plans the route trajectory on the regional map, where the route trajectory does not pass through the location of the second area, that is to say, the second area is used to set the prohibited flight area of the unmanned aerial vehicle.
  • the mission flight interface also includes a take-off control. After the take-off control is triggered, the remote control device will operate according to the second area. The mission information corresponding to the route trajectory planned in the second area is saved, and the second mission instruction is generated.
  • the task type is historical task:
  • Figure 15 is a fourth flow chart for generating a second task instruction provided by an embodiment of the present application.
  • the fourth process of generating second task instructions includes:
  • the user after the user selects the historical task, that is, after determining that the second task is a historical task, the user enters the historical record interface.
  • the user determines the historical route task by selecting the historical record interface, and imports the historical route task to determine the historical route task.
  • the task information corresponding to the route task includes: route trajectory, waypoint coordinates and other information.
  • the task information corresponding to the historical route task is determined to obtain the second task instruction, including:
  • the historical route mission is re-imported into the temporary mission.
  • the history record interface also includes a takeoff control. After the takeoff control is triggered, the remote control device will save the mission information corresponding to the historical route mission and generate a second mission instruction.
  • the method also includes:
  • Adjust the task information of the historical route task such as waypoint information, route trajectory and other information, to obtain the adjusted historical route task, and save the task information corresponding to the adjusted historical route task to obtain the second task instruction.
  • the import history task also includes:
  • Select the local folder of the remote control device or the storage device connected to the remote control device for example: a route file in KML/KMZ/JSON format on a USB flash drive, parse the waypoint information in the file, and add each corresponding coordinate information and The corresponding parameters call the route algorithm library to display the generated route on the map.
  • the coordinate points input by the user are passed into the route algorithm library to obtain the route trajectory of the unmanned aerial vehicle, and the map application is called for display.
  • Figure 16 is a schematic diagram of the history recording interface provided by the embodiment of the present application.
  • the history record interface includes an import historical task control.
  • import historical task control When the import historical task control is triggered, multiple historical task icons are generated.
  • the remote control device responds to the historical mission corresponding to the icon of the historical mission and presents the mission information of the historical mission on the mission flight interface.
  • Step S202 Send a second task instruction to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • the second task instruction is sent to the unmanned aerial vehicle, where the second task instruction corresponds to the second task, and the second task instruction is used to make the unmanned aerial vehicle
  • the aircraft suspends the second task and executes the second task corresponding to the second task instruction. That is, after receiving the second task instruction, the unmanned aerial vehicle parses the second task instruction and obtains the second task corresponding to the second task instruction. Task information and pause the current task to perform the second task.
  • the second task instruction can correspond to one or more second tasks. Inserting the second task during the execution of the first task can flexibly adjust the current mission status of the unmanned aerial vehicle. Moreover, since the second task instruction can correspond to multiple There is a second task, so that there is no upper limit for new tasks. As long as the unmanned aerial vehicle still has conditions to execute, it will be executed one by one, thereby improving the scheduling efficiency of the unmanned aerial vehicle.
  • the unmanned aerial vehicle can hover in the air and wait or return to a designated waypoint.
  • the online planning method of the route task is applied to the terminal device, and the terminal device communicates with the remote control device and the unmanned aerial vehicle.
  • the execution subject is the terminal device
  • the terminal device responds, for example: in response to the operation of the user interface of the remote control device, corresponding processing is performed, thereby interacting with the remote control device.
  • interact with human aircraft for example:
  • the terminal device responds to the operation of the user interface of the remote control device, generates a second task instruction, and sends the second task instruction to the unmanned aerial vehicle.
  • the terminal device also includes a user interface.
  • the user can also perform the corresponding steps mentioned in the above method, for example:
  • the processor of the terminal device generates a second task instruction in response to the user's operation on the user interface of the terminal device.
  • the relevant content of operating the interface of the remote control device can refer to the content mentioned in the above embodiments, such as: the processing methods of the mission editing interface, mission flight interface, temporary route preview interface, history recording interface and other interfaces, I won’t go into details here.
  • an online planning method for route missions includes: when the unmanned aerial vehicle is in the flight process of the first mission, in response to the operation of the user interface of the remote control device, generating a second mission instruction , wherein the second task instruction corresponds to the second task; the second task instruction is sent to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • this application can solve the insufficient scheduling efficiency caused by the unmanned aerial vehicle being able to only perform a single task during flight. problems and improve the dispatching efficiency of unmanned aerial vehicles.
  • Figure 17 is a schematic flow chart of another online planning method for route tasks provided by an embodiment of the present application.
  • the online planning method of the route mission can be applied to unmanned aerial vehicles or terminal equipment, wherein the unmanned aerial vehicle is connected to the remote control device through communication, and the terminal equipment is connected through communication to the remote control device and the unmanned aerial vehicle.
  • the online planning method of the route task is applied to the unmanned aerial vehicle, and the unmanned aerial vehicle communicates with the remote control device.
  • the online planning method for this route task includes:
  • Step S1701 While the unmanned aerial vehicle is flying on the first mission, obtain the second mission command sent by the remote control device, where the second mission command corresponds to the second mission;
  • Step S1702 According to the second task instruction, suspend the first task and execute the second task.
  • Figure 18 is a flow chart for performing the second task provided by an embodiment of the present application.
  • the second task instruction includes multiple second tasks, and the second task instruction pairs should be a task file.
  • the first task is suspended and the second task is executed, including:
  • Step S1801 Determine the execution order of multiple second tasks
  • Step S1802 Execute multiple second tasks one by one according to the execution order.
  • multiple second tasks correspond to one task file, and each second task corresponds to a file header and a file content.
  • the execution order of the multiple second tasks is determined, including:
  • the execution order of the plurality of second tasks is determined according to the order of the plurality of file headers.
  • the second task instruction corresponds to a task file.
  • the task file includes one or more second tasks.
  • Each second task corresponds to a file header and a file content.
  • the task file includes a route file in KML, KMZ or JSON format.
  • the online planning method of the route task is applied to the terminal device, and the terminal device communicates with the remote control device and the unmanned aerial vehicle.
  • the execution subject is the unmanned aerial vehicle
  • the second task instruction sent by the remote control device is received by the terminal device, and the terminal device executes the second task instruction to the unmanned aerial vehicle to suspend the first task of the unmanned aerial vehicle, so that The UAV performs the second task corresponding to the second task instruction, for example:
  • the terminal device While the unmanned aerial vehicle is flying on the first mission, the terminal device obtains the second task instruction sent by the remote control device, and sends the second task instruction to the unmanned aerial vehicle according to the second task instruction, causing the unmanned aerial vehicle to suspend the first task. , and perform the second task.
  • the method includes: while the unmanned aerial vehicle is in the flight process of the first mission, obtaining the second mission instruction sent by the remote control device, wherein the second task instruction Corresponds to the second task; according to the second task instruction, the first task is suspended and the second task is executed.
  • Figure 20 is a schematic flow chart of yet another online planning method for route tasks provided by an embodiment of the present application.
  • the process of the online planning method for this route task includes:
  • Step S2001 The unmanned aerial vehicle is in the flight process of the first mission
  • Step S2002 The remote control device sends a second mission command to the unmanned aerial vehicle
  • Step S2003 The unmanned aerial vehicle parses the second mission instruction and determines multiple second missions
  • Step S2004 The unmanned aerial vehicle determines the execution order of multiple second tasks
  • Step S2005 Pause the first task and execute multiple second tasks sequentially.
  • Figure 21 is a schematic structural diagram of an online planning device for route tasks provided by an embodiment of the present application.
  • the online planning device of the route mission can be applied to remote control equipment or terminal equipment.
  • the remote control equipment is connected to the unmanned aerial vehicle through communication
  • the terminal equipment is connected through communication to the remote control equipment and the unmanned aerial vehicle.
  • the online planning device 210 of the route task includes:
  • the task generation module 211 is configured to generate a second task instruction in response to an operation on the user interface of the remote control device while the unmanned aerial vehicle is in the first task, where the second task instruction corresponds to the second task;
  • the task sending module 212 is used to send a second task instruction to the unmanned aerial vehicle, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • the above-mentioned online planning device for route tasks can execute the online planning method for route tasks provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the online planning method for route tasks provided by the embodiments of this application.
  • an online planning device for a route mission includes: a mission generation module, configured to respond to the operation of the user interface of the remote control device during the flight of the unmanned aerial vehicle in the first mission. , generate a second task instruction, wherein the second task instruction corresponds to the second task; the task sending module is used to send the second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task , and perform the second task.
  • a mission generation module configured to respond to the operation of the user interface of the remote control device during the flight of the unmanned aerial vehicle in the first mission. , generate a second task instruction, wherein the second task instruction corresponds to the second task
  • the task sending module is used to send the second task instruction to the unmanned aerial vehicle, wherein the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task , and perform the second task.
  • Figure 22 is a schematic structural diagram of another online planning device for route tasks provided by an embodiment of the present application.
  • the online planning device of the route mission can be applied to unmanned aerial vehicles or terminal equipment.
  • the unmanned aerial vehicle communicates with the remote control equipment, and the terminal equipment communicates with the remote control equipment and the unmanned aerial vehicle.
  • the online planning device 220 for the route task includes:
  • the task acquisition module 221 is used to obtain the second task instruction sent by the remote control device while the unmanned aerial vehicle is in the flight process of the first task, where the second task instruction corresponds to the second task;
  • the task execution module 222 is used to suspend the first task according to the second task instruction and execute the second task. Task.
  • the above-mentioned online planning device for route tasks can execute the online planning method for route tasks provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the online planning method for route tasks provided by the embodiments of this application.
  • an online planning device for route missions includes: a mission acquisition module, configured to acquire the second mission instruction sent by the remote control device when the unmanned aerial vehicle is in the flight process of the first mission, The second task instruction corresponds to the second task; the task execution module is used to suspend the first task and execute the second task according to the second task instruction.
  • Figure 23 is a schematic structural diagram of a remote control device provided by an embodiment of the present application.
  • the remote control device 230 includes but is not limited to: radio frequency unit 231, network module 232, audio output unit 233, input unit 234, sensor 235, display unit 236, user input unit 237, interface unit 238, memory 239 , processor 2310, and power supply 2311 and other components.
  • the remote control device 230 also includes a camera.
  • the remote control device may include more or less components than shown in the figure, or combine certain components, or different components. Component placement.
  • remote control devices include but are not limited to mobile terminals such as mobile phones, tablet computers, or smart remote controls.
  • the processor 2310 is configured to generate a second mission instruction in response to an operation on the user interface of the remote control device while the unmanned aerial vehicle is in the first mission, where the second task instruction corresponds to the second task; to the unmanned aerial vehicle The aircraft sends a second task instruction, where the second task instruction is used to cause the unmanned aerial vehicle to suspend the first task and perform the second task.
  • the present application by temporarily planning a new task while the unmanned aerial vehicle is flying on a certain mission, so that the unmanned aerial vehicle can perform a new task, the present application can solve the problem of unmanned flight. It solves the problem of insufficient scheduling efficiency caused by the aircraft being able to only perform a single task during flight, and improves the scheduling efficiency of unmanned aerial vehicles.
  • the radio frequency unit 231 can be used to receive and send information or signals during a call. Specifically, after receiving downlink data from the base station, it is processed by the processor 2310; in addition, Uplink data is sent to the base station.
  • the radio frequency unit 231 includes, but is not limited to, an antenna, at least one amplifier, transceiver, coupler, low noise amplifier, duplexer, etc.
  • the radio frequency unit 231 can also communicate with the network and other devices through a wireless communication system.
  • the remote control device 230 provides users with wireless broadband Internet access through the network module 232, such as helping users send and receive emails, browse web pages, and access streaming media.
  • the audio output unit 233 may convert the audio data received by the radio frequency unit 231 or the network module 232 or stored in the memory 239 into an audio signal and output it as a sound. Furthermore, the audio output unit 233 may also provide audio output related to specific functions performed by the remote control device 230 (eg, call signal reception sound, message reception sound, etc.).
  • the audio output unit 233 includes a speaker, a buzzer, a receiver, and the like.
  • the input unit 234 is used to receive audio or video signals.
  • the input unit 234 may include a graphics processor (Graphics Processing Unit, GPU) 2341 and a microphone 2342.
  • the graphics processor 2341 targets still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. Images are processed.
  • the processed image frames may be displayed on the display unit 236.
  • the image frames processed by the graphics processor 2341 may be stored in the memory 239 (or other storage media) or sent via the radio frequency unit 231 or the network module 232.
  • Microphone 2342 can receive sounds and can process such sounds into audio data.
  • the processed audio data can be converted into a format that can be sent to a mobile communication base station via the radio frequency unit 231 for output in the phone call mode.
  • the remote control device 230 also includes at least one sensor 235, such as a light sensor, a motion sensor, and other sensors.
  • the light sensor includes an ambient light sensor and a proximity sensor.
  • the ambient light sensor can adjust the brightness of the display panel 2361 according to the brightness of the ambient light.
  • the proximity sensor The monitor may turn off the display panel 2361 and/or the backlight when the remote control device 230 is moved to the ear.
  • the accelerometer sensor can detect the magnitude of acceleration in various directions (usually three axes).
  • the sensor 235 may also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, Infrared sensors, etc. will not be described in detail here.
  • the display unit 236 is used to display information input by the user or information provided to the user.
  • the display unit 236 may include a display panel 2361, which may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-emitting diode (OLED), etc.
  • LCD Liquid Crystal Display
  • OLED organic light-emitting diode
  • the user input unit 237 may be used to receive input numeric or character information and generate key signal input related to user settings and function control of the remote control device.
  • the user input unit 237 includes a touch panel 2371 and other input devices 2372.
  • the touch panel 2371 also known as a touch screen, can collect the user's touch operations on or near the touch panel 2371 (such as the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 2371). operate).
  • the touch panel 2371 may include two parts: a touch detection device and a touch controller.
  • the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact point coordinates, and then sends it to the touch controller.
  • the touch panel 2371 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave.
  • the user input unit 237 may also include other input devices 2372.
  • other input devices 2372 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.
  • the touch panel 2371 can be covered on the display panel 2361.
  • the touch panel 2371 detects a touch operation on or near it, it is sent to the processor 2310 to determine the type of the touch event. type, and then the processor 2310 provides corresponding visual output on the display panel 2361 according to the type of the touch event.
  • the touch panel 2371 and the display panel 2361 are used as two independent components to implement the input and output functions of the remote control device, in some embodiments, the touch panel 2371 and the display panel 2361 can be integrated. There are no specific limitations here on realizing the input and output functions of the remote control device.
  • the interface unit 238 is an interface for connecting external devices to the remote control device 230 .
  • external devices may include a wired or wireless headphone port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, audio input/output (I/O) port, video I/O port, headphone port, etc.
  • the interface unit 238 may be used to receive input (eg, data information, power, etc.) from an external device and transmit the received input to one or more elements within the remote control device 230 or may be used to communicate between the remote control device 230 and the external device 230 . Transfer data between devices.
  • Memory 239 may be used to store software programs as well as various data.
  • the memory 239 may mainly include a storage program area and a storage data area, wherein the storage program area may store at least one application program 2391 required for a function (such as a sound playback function, an image playback function, etc.) and an operating system 2392, etc.; the storage data area may store Store data created based on the use of the mobile phone (such as audio data, phone book, etc.), etc.
  • memory 239 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the processor 2310 is the control center of the remote control device, using various interfaces and lines to connect various parts of the entire remote control device, by running or executing software programs and/or modules stored in the memory 239, and calling data stored in the memory 239 , perform various functions of the remote control device and process data, thereby overall monitoring the remote control device.
  • the processor 2310 may include one or more processing units; in this embodiment of the present application, the processor 2310 may integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, application programs, etc. , the modem processor mainly handles wireless communications. It is understood that the above modem processor may not be integrated into the processing in device 2310.
  • the remote control device 230 may also include a power supply 2311 (such as a battery) that supplies power to various components.
  • the power supply 2311 may be logically connected to the processor 2310 through a power management system, thereby managing charging, discharging, and And functions such as power consumption management.
  • the remote control device 230 includes some not-shown functional modules, which will not be described again here.
  • the embodiment of the present application also provides a remote control device, including a processor 2310, a memory 239, and a computer program stored in the memory 239 and executable on the processor 2310.
  • a remote control device including a processor 2310, a memory 239, and a computer program stored in the memory 239 and executable on the processor 2310.
  • the above route tasks are realized.
  • Each process of the online planning method embodiment can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • Figure 24 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the unmanned aerial vehicle 240 includes: a processor 241, a memory 242 and a communication module 243. Among them, the processor 241, the memory 242 and the communication module 243 establish a communication connection between any two through a bus.
  • the processor 241 can be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.
  • the processor 241 is configured to: when the unmanned aerial vehicle is in the first mission, obtain the second mission instruction sent by the remote control device, where the second task instruction corresponds to the second task; according to the second task instruction, Pause the first task and execute the second task.
  • this application by temporarily planning a new task while the unmanned aerial vehicle is flying on a certain mission, so that the unmanned aerial vehicle can perform a new task, this application can solve the problem that the unmanned aerial vehicle can only perform Improve the scheduling efficiency of unmanned aerial vehicles to solve the problem of insufficient scheduling efficiency caused by a single task.
  • the memory 242 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the program corresponding to the online planning method for route tasks in the embodiment of the present application. directive/module.
  • Processor 241 stores in memory by running 242, thereby realizing the online planning method of route tasks in the above method embodiment.
  • the memory 242 may include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the stored data area may store data created according to the use of the online planning device for route tasks, etc. . Additionally, memory 242 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 242 optionally includes memory located remotely relative to the processor 241, and these remote memories may be connected to the UAV via a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the memory 242 stores instructions that can be executed by at least one processor 241; at least one processor 241 is used to execute instructions to implement the online planning method of route tasks in any of the above method embodiments.
  • the communication module 243 is a functional module used to establish a communication connection and provide a physical channel.
  • the communication module 243 can be any type of wireless or wired communication module, including but not limited to WiFi module or Bluetooth module.
  • Figure 25 is a schematic structural diagram of an online planning system for route tasks provided by an embodiment of the present application.
  • the online planning system 250 of the route mission includes: a remote control device 251 and an unmanned aerial vehicle 252, wherein the remote control device 251 is communicatively connected to the unmanned aerial vehicle 252.
  • multiple remote control devices 251 there may be multiple remote control devices 251 in the embodiment of the present application. Multiple remote control devices 251 are directly connected to one unmanned aerial vehicle 252 through communication, or some or all of the multiple remote control devices 251 are connected to the unmanned aerial vehicle 252 through base station communication. , to achieve control of the unmanned aerial vehicle 252.
  • Figure 26 is a schematic structural diagram of another online planning system for route tasks provided by an embodiment of the present application.
  • the online planning system 260 of the route mission includes: a remote control device 261, an unmanned aerial vehicle 262 and a terminal device 263.
  • the remote control device 261 is communicatively connected to the unmanned aerial vehicle 262, and the unmanned aerial vehicle 262 is communicatively connected to the terminal device. 263.
  • the terminal device 263 communicates with the remote control device 261.
  • multiple remote control devices 261 there may be multiple remote control devices 261 in the embodiment of the present application. Multiple remote control devices 261 directly communicate with one unmanned aerial vehicle 262, or some or all of the multiple remote control devices 261 communicate with the unmanned aerial vehicle 262 through base stations. , to achieve control of the unmanned aerial vehicle 262.
  • the terminal device 263 can be used to directly send control instructions to the remote control device 261 and/or the unmanned aerial vehicle 262 to control the work of the remote control device 261 and/or the unmanned aerial vehicle 262;
  • the terminal device 263 serves as a transfer station between the remote control device 261 and the unmanned aerial vehicle 262, and is used to forward data, commands or information between the remote control device 261 and the unmanned aerial vehicle 262, so as to realize the communication between the remote control device 261 and the unmanned aerial vehicle 262. interaction.
  • the relevant content of the unmanned aerial vehicle 262 of the route mission online planning system 260 in the embodiment of the present application may be referred to the unmanned aerial vehicle mentioned in the above embodiment, and will not be described again here.
  • the terminal equipment 263 of the route task online planning system 260 includes but is not limited to fixed terminals, servers, personal computers, notebook computers, handheld computers, and vehicle-mounted terminals. terminal equipment.
  • embodiments of the present application also provide a non-transitory computer-readable storage medium.
  • the non-transitory computer-readable storage medium stores computer-executable instructions.
  • the computer-executable instructions are executed by one or more processors and can The above one or more processors are caused to execute the online planning method of the route task in any of the above method embodiments.
  • embodiments of the present application also provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause the computer to perform any of the above method embodiments.
  • the computer program product may be a software installation package.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • 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 units.
  • Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Select some or all of the modules 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, it can also be implemented by hardware.
  • the computer program can be stored in a non-transitory computer-readable storage.
  • the computer program includes program instructions.
  • the relevant device can perform the processes of the embodiments of the above methods.
  • the storage medium can 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.
  • the above-mentioned products can execute the online planning method for route tasks provided by the embodiments of this application, and have corresponding functional modules and beneficial effects for executing the online planning method for route tasks.
  • the online planning method for route tasks provided by the embodiments of this application. Law.

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Abstract

L'invention concerne un procédé de planification en ligne de tâche d'itinéraire et un appareil associé. Le procédé de planification en ligne consiste à : pendant le processus de vol d'un véhicule aérien sans pilote dans une première tâche, en réponse à une opération sur une interface utilisateur d'un dispositif de commande à distance, générer une deuxième instruction de tâche, la deuxième instruction de tâche correspondant à une deuxième tâche (S201) ; et envoyer une deuxième instruction de tâche au véhicule aérien sans pilote, la deuxième instruction de tâche étant utilisée pour amener le véhicule aérien sans pilote à mettre en pause la première tâche et à exécuter la deuxième tâche (S202). Pendant le processus de vol du véhicule aérien sans pilote dans une certaine tâche, une nouvelle tâche est temporairement planifiée, et le véhicule aérien sans pilote est amené à exécuter la nouvelle tâche, ce qui permet de résoudre le problème selon lequel l'efficacité de planification est insuffisante en raison du fait que le véhicule aérien sans pilote peut uniquement exécuter une tâche unique pendant le processus de vol, et d'améliorer l'efficacité de planification du véhicule aérien sans pilote.
PCT/CN2023/083224 2022-04-08 2023-03-23 Procédé de planification en ligne de tâche d'itinéraire et appareil associé WO2023193604A1 (fr)

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