Unmanned Aerial Vehicle Control Method and Electronic Device

Abstract

Embodiments of the present application provide a method for controlling a drone and an electronic device. The method includes: determining a plurality of target objects corresponding to a first service, obtaining a first flight path and a first execution time according to the states of the plurality of target objects and the site conditions of the construction site, and controlling the drone to capture the plurality of target objects based on the first flight path within the first execution time. By determining the flight path and the execution time uniformly based on the states of the plurality of target objects, the embodiments of the present application reduce the situations of repeated paths or repeated data collection during on-site data collection, improve the efficiency of data collection, and also avoid the waste of drone battery resources.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of path planning, and in particular, to a method for controlling an unmanned aerial vehicle and an electronic device. Background Art

[0002] With the development of unmanned aerial vehicle technology, the application fields of unmanned aerial vehicles are becoming more and more extensive, such as the construction industry. In the scenarios of the construction period or the operation period of a construction site, unmanned aerial vehicles can be used to take pictures of the construction site to facilitate recording or understanding the on-site situation.

[0003] In the prior art, an unmanned aerial vehicle can be used to execute operations related to a construction site. When executing operations, multiple business objects are involved, and it is necessary to separately plan flight paths for each business object, and then collect on-site data of each business object according to the flight paths.

[0004] However, when collecting on-site data through the flight paths of each business object, there may be problems such as path duplication or duplicate data collection, which not only reduces the efficiency of data collection, but also causes waste of the battery resources of the unmanned aerial vehicle. Summary of the Invention

[0005] The embodiments of the present application provide a method for controlling an unmanned aerial vehicle and an electronic device to solve the problems of low efficiency of data collection and waste of battery resources of the unmanned aerial vehicle in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a method for controlling an unmanned aerial vehicle, including:

[0007] Determine multiple target objects corresponding to a first service;

[0008] Obtain a first flight path and a first execution time according to the states of the multiple target objects and the on-site situation of the construction site;

[0009] Control the unmanned aerial vehicle to photograph the multiple target objects based on the first flight path within the first execution time.

[0010] Optionally, the obtaining a first flight path and a first execution time according to the states of the multiple target objects and the on-site situation of the construction site includes:

[0011] Determine the states of the multiple target objects, and determine a first execution time according to the states of the multiple target objects, where the states include a normal photographing state and an abnormal photographing state;

[0012] Determine the on-site situation of the construction site where the multiple target objects are located, and determine a first flight path according to the on-site situation of the construction site, where the on-site situation of the construction site is used to indicate the obstacle environment when the unmanned aerial vehicle is flying.

[0013] Optionally, determining the first execution time according to the states of the multiple target objects includes:

[0014] Determining the number of target objects in the normal shooting state within different time periods;

[0015] Determining a target time period, where the target time period is the time period with the largest number of target objects in the normal shooting state;

[0016] If the number of target objects in the normal shooting state within the target time period is higher than a quantity threshold, setting the target time period as the first execution time.

[0017] Optionally, after obtaining the first flight path, it further includes:

[0018] Determining the on-site data of the target objects in the abnormal shooting state in the first service during the first execution time.

[0019] Optionally, after obtaining the first flight path and the first execution time according to the states of the multiple target objects and the on-site situation of the construction site, it further includes:

[0020] If there is a second service during the first execution time, judging whether there is a conflict between the first service and the second service according to the target objects corresponding to the first service and the target objects corresponding to the second service;

[0021] If there is a conflict between the first service and the second service, re-planning the shooting methods of the first service and the second service.

[0022] Optionally, judging whether there is a conflict between the first service and the second service according to the target objects corresponding to the first service and the target objects corresponding to the second service includes:

[0023] Judging whether there is an intersection between the target objects corresponding to the second service and the target objects corresponding to the first service to obtain a first result;

[0024] Judging whether there is a shooting conflict between the first service and the second service according to the first result;

[0025] Or,

[0026] Obtaining a second flight path corresponding to the second service, where the second flight path is generated according to the on-site situation of the construction site where the target objects corresponding to the second service are located;

[0027] Judging whether there is an intersection between the second flight path and the first flight path to obtain a second result;

[0028] Determine whether there is a path conflict between the first service and the second service according to the second result.

[0029] Optionally, if there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, including:

[0030] If there is a shooting conflict between the first service and the second service, shoot the target object with the shooting conflict to obtain the on-site data of the target object with the shooting conflict.

[0031] When executing the first service or the second service, directly obtain the on-site data of the target object with the shooting conflict.

[0032] Optionally, if there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, including:

[0033] If there is a path conflict between the first service and the second service, re-plan the first flight path and the second flight path to obtain new first and second flight paths without an intersection.

[0034] Optionally, if there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, including:

[0035] If there is a conflict between the first service and the second service, obtain the execution priorities of the first service and the second service.

[0036] If the execution priority of the first service is lower than that of the second service, update the first execution time to be earlier than or later than the second execution time, where the second execution time is the execution time corresponding to the second service.

[0037] If the execution priority of the first service is higher than that of the second service, keep the first execution time unchanged and suspend the execution of the second service within the first execution time.

[0038] In a second aspect, an embodiment of the present application provides a drone control device, including:

[0039] A determination module for determining a plurality of target objects corresponding to the first service;

[0040] A processing module for obtaining a first flight path and a first execution time according to the states of the plurality of target objects and the situation of the construction site.

[0041] The processing module is further configured to control the drone to capture the multiple target objects based on the first flight path within the first execution time.

[0042] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0043] The memory stores computer-executable instructions;

[0044] The processor executes the computer-executable instructions stored in the memory to implement the drone control method as described in the first aspect above and various possible aspects related to the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the drone control method as described in the first aspect above and various possible aspects related to the first aspect are implemented.

[0046] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by the processor, the drone control method as described in the first aspect above and various possible aspects related to the first aspect are implemented.

[0047] An embodiment of the present application provides a drone control method and an electronic device. After adopting the above solution, multiple target objects corresponding to the first service can be determined first, and then based on the states of the multiple target objects and the site conditions of the construction site, the first flight path and the first execution time are obtained. Then, the drone is controlled to capture the multiple target objects based on the first flight path within the first execution time. By determining the flight path and the execution time uniformly based on the states of the multiple target objects, the situation of path repetition or duplicate data collection during on-site data collection is reduced, the efficiency of data collection is improved, and the waste of the drone's battery resources is also avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 It is a schematic diagram of the architecture of the application system for the drone control method provided by the embodiment of the present application;

[0050] Figure 2Schematic flowchart of the unmanned aerial vehicle control method provided by the embodiments of the present application;

[0051] Figure 3 Schematic application diagram of the construction site scene map provided by the embodiments of the present application;

[0052] Figure 4 Schematic application diagram of shooting conflict provided by the embodiments of the present application;

[0053] Figure 5 Schematic application diagram of adjusting path conflict provided by the embodiments of the present application;

[0054] Figure 6 Schematic structural diagram of the unmanned aerial vehicle control device provided by the embodiments of the present application;

[0055] Figure 7 Schematic hardware structure diagram of the electronic device provided by the embodiments of the present application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0057] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can also include other sequence examples in addition to those illustrated or described. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0058] Currently, when implementing operations related to a construction site using a drone, multiple operation objects are involved, and a separate flight path needs to be planned for each operation object, and on-site data of each operation object is collected according to the flight path. Exemplarily, the operations to be performed may involve four operation objects, namely operation object A, operation object B, operation object C, and operation object D. Flight paths need to be planned for the four operation objects of operation object A, operation object B, operation object C, and operation object D respectively, and then on-site data of operation object A, operation object B, operation object C, and operation object D is collected respectively according to the planned flight paths. However, when collecting on-site data of multiple operation objects, there may be problems such as duplicate paths or duplicate data collection, which not only reduces the efficiency of data collection but also causes waste of the drone's battery resources.

[0059] Based on the above technical problems, the present application reduces the situation of duplicate paths or duplicate data collection when collecting on-site data by determining the flight path and execution time uniformly based on the states of multiple target objects, achieving the technical effects of both improving the efficiency of data collection and avoiding waste of the drone's battery resources.

[0060] Figure 1 The following is a schematic diagram of the architecture of the application system for the drone control method provided by the embodiments of the present application. As Figure 1 shown, the application system may include: a server 101 and a drone 102. The server can determine a first operation to be performed based on a specific business scenario. Among them, the first operation may correspond to multiple target objects (for example, it may correspond to four operation objects, namely operation object A, operation object B, operation object C, and operation object D), and may also include obstacles E, obstacles F, and obstacles G. Then, according to the states of operation object A, operation object B, operation object C, and operation object D, and the situations of obstacles E, obstacles F, and obstacles G, a first flight path and a first execution time are obtained.

[0061] The server 101 can also send the first flight path to the drone 102. After receiving the first flight path, the drone 102 can sequentially photograph each target object in the first operation at the first execution time according to the first flight path to obtain on-site data of each target object, and transmit the on-site data of each target object back to the server 101.

[0062] Among them, the target object can refer to a dynamic process or a static object. Among them, the dynamic process can be a construction process video such as photographing the pouring process of a certain building (the process video can be formed by multiple consecutive target object images); the static object, such as photographing the current state image of a certain part of a certain building during the construction stage.

[0063] Exemplarily, in the scenario of a construction site, in order to timely understand or record construction data, specific operations can be performed by a drone. Here, the operation can be taking pictures or recording, which is related to the shooting object indicated by the specific operation and is not specifically limited herein.

[0064] The construction site conditions are used to indicate the obstacle environment for the drone during flight. For example, certain buildings, construction equipment, etc. can be obtained by aerial photographing the construction site with a drone to obtain aerial images, or progress data can be obtained from a database storing the construction site conditions to obtain the construction site conditions.

[0065] In addition, the application system can also include a terminal device 103. After receiving the on-site data of each target object, the server 101 can send the on-site data of each target object to the corresponding terminal device 103 (here, the terminal device 103 can be an intelligent device such as a computer, a tablet, or a smart phone), so that the user using the terminal device 103 can conveniently and timely view or pay attention to the status of the target object, such as the pouring process.

[0066] The technical solution of the present application will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0067] Figure 2 It is a flowchart of the drone control method provided by the embodiment of the present application. The method of this embodiment can be executed by the server 101. As Figure 2 shown, the method of this embodiment can include:

[0068] S201: Determine multiple target objects corresponding to the first service.

[0069] In this embodiment, multiple operations related to the construction site can be performed by a drone. Exemplarily, the operation can be an inspection operation or an inspection operation, that is, the construction conditions of the construction site can be inspected or inspected by a drone.

[0070] Among them, each operation can correspond to different target objects, and the target objects corresponding to each operation are pre-determined. Optionally, the target objects corresponding to each operation can be determined according to the location of the target object. The target objects corresponding to each operation can also be determined according to the progress of the target object. Exemplarily, the construction process of the target object can be divided into different stages, and then the corresponding stage can be determined according to the construction progress of the target object, and the target objects belonging to the same stage can be classified into the same operation.

[0071] In addition, after the service is determined, the service can be executed. Since there are multiple determined services, which specific service needs to be executed can be selected in various ways. Optionally, in response to a touch operation of the user (which can be operations such as single-click and double-click), the first service to be executed can be determined. It is also possible to set an execution time for each service, and when the execution time arrives, automatically determine the first service to be executed, etc. After determining the first service, multiple target objects corresponding to the first service can be automatically determined. Among them, the target object can be a building to be constructed or under construction at the construction site.

[0072] In addition, the target objects corresponding to each service can be adjusted through the display interface. For example, the target objects corresponding to each service can be increased or decreased through the display interface, improving the flexibility of adjusting the target objects corresponding to the service.

[0073] S202: Obtain a first flight path and a first execution time according to the states of multiple target objects and the construction site conditions.

[0074] In this embodiment, after determining multiple target objects of the first service, the state of each target object can be determined first, and then according to the state of each target object and the construction site conditions, the first flight path and the first execution time corresponding to the first service can be obtained.

[0075] Optionally, the state of the target object can be the construction situation of the target object, and there can be multiple types. Exemplarily, the state of the target object can be a normal shooting state and an abnormal shooting state. If the current construction situation of the target object does not affect the drone shooting, the state of the target object can be set to the normal shooting state; if the current construction situation of the target object affects the drone shooting, or due to special circumstances, shooting is not allowed, the state of the target object can be set to the abnormal shooting state.

[0076] In addition, the construction site conditions can represent the situations of other buildings, construction equipment, construction personnel and other obstacles in the construction site except the target objects. Among them, there can be multiple target objects in the construction site, each target object can correspond to a different service, the target objects corresponding to the first service can be obstacles to the second service, and the target objects corresponding to other services may also become obstacles to the first service.

[0077] Furthermore, after obtaining the states of multiple target objects in the first service and the construction site conditions, planning can be carried out according to the states of multiple target objects in the first service and the construction site conditions to obtain a first flight path (i.e., the path for the drone to shoot the target object) and a first execution time (i.e., the time for the drone to shoot the target object). Among them, the first flight path can include the horizontal coordinates of the drone flight and the flight altitude of the drone, etc.

[0078] S203: Control the drone to capture multiple target objects based on the first flight path within the first execution time.

[0079] In this embodiment, after obtaining the first flight path and the first execution time of the first service, the first flight path can be directly sent to the drone, and when the first execution time arrives, a flight instruction is sent to the drone so that the drone captures multiple target objects based on the first flight path.

[0080] Optionally, after obtaining the first flight path and the first execution time of the first service, the first flight path may not be sent to the drone first, but instead, the first flight path is sent to the drone when the first execution time arrives, so that the drone directly captures multiple target objects based on the first flight path.

[0081] After adopting the above solution, multiple target objects corresponding to the first service can be determined first, and then based on the states of the multiple target objects and the construction site situation, the first flight path and the first execution time are obtained. Then, the drone is controlled to capture multiple target objects based on the first flight path within the first execution time. By determining the flight path and the execution time uniformly based on the states of the multiple target objects, the situation of path repetition or duplicate data collection during on-site data collection is reduced, the efficiency of data collection is improved, and the waste of the drone's battery resources is also avoided.

[0082] Based on Figure 2 the method, some specific implementation schemes of the method are also provided in the embodiments of this specification, which will be described below.

[0083] In addition, in another embodiment, the obtaining of the first flight path and the first execution time according to the states of the multiple target objects and the construction site situation may specifically include:

[0084] Determine the states of the multiple target objects, and determine the first execution time according to the states of the multiple target objects, where the states include a normal shooting state and an abnormal shooting state.

[0085] Determine the construction site situation of the construction site where the multiple target objects are located, and determine the first flight path according to the construction site situation, where the construction site situation is used to indicate the obstacle environment when the drone is flying.

[0086] In this embodiment, when determining the execution time of the first service, it is possible to first determine whether the target object corresponding to the first service is in a normal shooting state or an abnormal shooting state, and then determine the first execution time according to the states of multiple target objects. When determining the first flight path of the first service, it is possible to determine the obstacle situation at the construction site where multiple target objects are located, and then plan a first flight path that can reduce the flight path, avoid obstacles, and simultaneously shoot multiple service objects according to the obstacle situation at the construction site where they are located.

[0087] Further, the determining the first execution time according to the states of the multiple target objects may specifically include:

[0088] Determine the number of target objects in a normal shooting state in different time periods.

[0089] Determine the target time period, where the target time period is the time period when the number of target objects in a normal shooting state is the largest.

[0090] If, within the target time period, the number of target objects in a normal shooting state is higher than the quantity threshold, then set the target time period as the first execution time.

[0091] Specifically, since there are many construction vehicles at the construction site and the construction states of different target objects are different, therefore, the same target object may be in different states in different time periods. When determining the first execution time, it is possible to first determine the number of target objects in a normal shooting state in different time periods, and then determine the target time period when the number of target objects in a normal shooting state is the largest. If, within the target time period, the number of target objects in a normal shooting state is higher than the quantity threshold, then set the target time period as the first execution time.

[0092] Among them, the duration setting of the time period can be customized according to the actual application scenario. Exemplarily, in this embodiment, the duration of the time period can be set to one hour, that is, a day can be divided into 24 time periods, and the duration of each time period is one hour.

[0093] In addition, if the quantity threshold is set too high, it may lead to the situation where the number of target objects in a normal shooting state in all time periods is lower than the quantity threshold and the first execution time cannot be determined. The quantity threshold can be adjusted. So that a suitable first execution time can be determined through the quantity threshold.

[0094] In addition, if, within the first execution time, the number of target objects in a normal shooting state is lower than the quantity threshold, it is also possible to generate and display a prompt indicating that the first execution time is unavailable, thereby reminding the operation and maintenance personnel to handle it in a timely manner, improving the timeliness of abnormal situation handling.

[0095] In another embodiment, after obtaining the first flight path, the method may further include:

[0096] Determine the on-site data of the target object in an abnormal shooting state in the first service within the first execution time.

[0097] In this embodiment, when the UAV shoots the target object based on the first flight path, the on-site data of the target object in the normal shooting state is obtained. Then, the first service also includes the target object in the abnormal shooting state. Therefore, the UAV or other acquisition devices (cameras, acquisition sensors, etc.) can be separately controlled to acquire the on-site data of the target object in the abnormal shooting state. Or, the data of the target object in the abnormal shooting state can be directly obtained from the existing database as the on-site data of the target object in the abnormal shooting state, improving the integrity of the target object data corresponding to the first service.

[0098] In addition, after the UAV shoots the target object in the normal shooting state based on the first flight path, the shot data can be returned to the server, and the server can generate a construction site scene diagram according to the received data. The construction site scene diagram can include the target object in the normal shooting state. However, in the construction site, in addition to the target object in the normal shooting state, there may also be a target object in the abnormal shooting state. Therefore, the server can also separately obtain the on-site data of the target object in the abnormal shooting state and add the on-site data of the target object in the abnormal shooting state to the construction site scene diagram.

[0099] Exemplarily, Figure 3 is an application schematic diagram of the construction site scene diagram provided by the embodiment of the present application. As shown in Figure 3 a, it is a construction site scene diagram generated according to the target object in the normal shooting state shot by the UAV based on the first flight path. In this construction site scene diagram, it includes the target object A and target object D in the normal shooting state in the first service, as well as obstacles E, F, and G. As shown in Figure 3 b, it is a construction site scene diagram generated according to the on-site data of the target object in the normal shooting state and the on-site data of the target object in the abnormal shooting state. In this construction site scene diagram, in addition to including the target object A and target object D in the normal shooting state in the first service, and obstacles E, F, and G, it may also include the target object B and target object C in the abnormal shooting state.

[0100] In another embodiment, after obtaining the first flight path and the first execution time according to the states of the multiple target objects and the construction site conditions, the method may further include:

[0101] If there is a second service within the first execution time, then based on the target object corresponding to the first service and the target object corresponding to the second service, determine whether there is a conflict between the first service and the second service.

[0102] If there is a conflict between the first service and the second service, re-plan the shooting methods for the first service and the second service.

[0103] In this embodiment, since there are multiple pre-planned services, therefore, within the first execution time, in addition to the possible existence of the first service, there may also be one or more second services. If there is a second service within the first execution time, then based on the target object corresponding to the first service and the target object corresponding to the second service, determine whether there is a conflict between the first service and the second service. If there is a conflict between the first service and the second service, then re-plan the shooting methods for the first service and the second service. If there is no conflict between the first service and the second service, then shoot the respective target services according to the execution time of the first service and the execution time of the second service.

[0104] Further, based on the target object corresponding to the first service and the target object corresponding to the second service, determining whether there is a conflict between the first service and the second service may specifically include:

[0105] Determine whether there is an intersection between the target object corresponding to the second service and the target object corresponding to the first service to obtain a first result.

[0106] Based on the first result, determine whether there is a shooting conflict between the first service and the second service.

[0107] Or obtain the second flight path corresponding to the second service, where the second flight path is generated according to the site conditions of the construction site where the target object corresponding to the second service is located.

[0108] Determine whether there is an intersection between the second flight path and the first flight path to obtain a second result.

[0109] Based on the second result, determine whether there is a path conflict between the first service and the second service.

[0110] Specifically, there may be various ways for the first service and the second service to conflict, and the ways of conflict can be determined according to the target objects corresponding to different services or the flight paths corresponding to different services.

[0111] Optionally, each service corresponds to multiple target objects. The target objects corresponding to different services can be the same or different. If there is an intersection between the target objects corresponding to the first service and the second service executed within the same execution time, it can be determined that there is a shooting conflict between the first service and the second service. Exemplarily, the execution times of the first service and the second service are the same, both from 10:00 to 11:00. The target objects corresponding to the first service are target object A, target object B, target object C, and target object D, and the target objects corresponding to the second service are target object B, target object C, target object H, and target object J. There are overlapping target objects B and target object C between the target objects corresponding to the first service and the second service. Therefore, there is a shooting conflict between the first service and the second service.

[0112] Optionally, the flight path of the service can be determined according to the target object corresponding to each service. If there is an intersection between the flight paths corresponding to the services within the same execution time, it can be determined that there is a shooting conflict between the services. Exemplarily, Figure 4 This is a schematic application diagram of the shooting conflict provided by the embodiment of the present application. As Figure 4 shown, the execution times of the first service and the second service are the same, both from 10:00 to 11:00. The target objects corresponding to the first service are target object A, target object B, target object C, and target object D, and the first flight path can be determined according to target object A, target object B, target object C, and target object D. The target objects corresponding to the second service are target object H and target object J, and the second flight path can be determined according to target object H and target object J. Since there is an intersection between the first flight path and the second flight path, it can be determined that there is a shooting conflict between the first service and the second service.

[0113] In summary, when it is determined that there is a shooting conflict or a path conflict between the first service and the second service, the shooting methods of the first service and the second service can be re-planned to avoid the conflict, ensuring the normal implementation of the first service and the second service, and thus improving the user's application experience.

[0114] In addition, in another embodiment, if there is a conflict between the first service and the second service, the shooting methods of the first service and the second service can be re-planned, and there can be multiple ways to re-plan the shooting methods of the first service and the second service.

[0115] In one implementation manner, if there is a conflict between the first service and the second service, re-planning the shooting methods of the first service and the second service may specifically include:

[0116] If there is a shooting conflict between the first service and the second service, then shoot the target object with the shooting conflict to obtain the on-site data of the target object with the shooting conflict.

[0117] When executing the first service or the second service, directly obtain the on-site data of the target object with the shooting conflict.

[0118] In this embodiment, if there is a shooting conflict between the first service and the second service, it indicates that there is the same target object between the first service and the second service. To ensure the normal implementation of each service as much as possible, it can be first determined whether the data between the services can be shared. If the data between the services can be fully shared or partially shared, the shareable data can be shared among the services, which can not only avoid the shooting conflict between the services, but also reduce the shooting times of the same service object and improve the utilization rate of the on-site data of the service object.

[0119] Optionally, if there is a shooting conflict between the first service and the second service, then when executing the first service, first shoot the target object with the shooting conflict to obtain the on-site data of the target object with the shooting conflict, and when executing another service, directly obtain the on-site data of the target object with the shooting conflict that was previously shot. Among them, if the first executed service is the first service, then when executing the second service, the on-site data of the target object with the shooting conflict that was previously shot can be directly obtained. If the first executed service is the second service, then when executing the first service, the on-site data of the target object with the shooting conflict that was previously shot can be directly obtained.

[0120] In another implementation manner, if there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, which may specifically include:

[0121] If there is a path conflict between the first service and the second service, then re-plan the first flight path and the second flight path to obtain new first and second flight paths without an intersection.

[0122] Specifically, if the on-site data corresponding to the first service and the second service cannot be shared, such as there is a path conflict between the first service and the second service, the first flight path and the second flight path can be re-planned according to the position, flight altitude, and obstacles of the service object to obtain new first and second flight paths without an intersection.

[0123] Among them, when re-planning the first flight path and the second flight path, only the first flight path can be updated, only the second flight path can be updated, or both the first flight path and the second flight path can be updated. The specific situation can be adjusted according to the actual application scenario.

[0124] Exemplarily, Figure 5 is a schematic diagram of an application for adjusting path conflicts provided by an embodiment of the present application. As Figure 5 shown in a of , continuing to use the Figure 4 embodiment in , the execution times of the first service and the second service are the same, both from 10:00 to 11:00. The target objects corresponding to the first service are target object A, target object B, target object C, and target object D, and the first flight path can be determined according to target object A, target object B, target object C, and target object D. The target objects corresponding to the second service are target object H and target object J, and the second flight path can be determined according to target object H and target object J. Since there is an intersection between the first flight path and the second flight path, it can be determined that there is a shooting conflict between the first service and the second service. As Figure 5 shown in b of , when there is a path conflict between the first service and the second service, the new first flight path and the second flight path without path conflict are re-planned. And in this embodiment, only the second flight path corresponding to the second service is adjusted.

[0125] In another implementation manner, if there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service. Specifically, it may include:

[0126] If there is a conflict between the first service and the second service, obtain the execution priorities of the first service and the second service.

[0127] If the execution priority of the first service is lower than that of the second service, update the first execution time to be earlier or later than the second execution time, where the second execution time is the execution time corresponding to the second service.

[0128] If the execution priority of the first service is higher than that of the second service, keep the first execution time unchanged, and suspend the execution of the second service within the first execution time.

[0129] Specifically, if there is a conflict between the first service and the second service, the data of the shooting service objects cannot be reused, and the first flight path and the second flight path without shooting conflict cannot be planned, then the execution priorities of the first service and the second service can be determined, and the shooting methods of the first service and the second service can be determined according to the execution priorities of the first service and the second service. Among them, the execution priority of each service is set in advance, and can be set according to the last completion deadline of each task, that is, the earlier the last completion deadline, the higher the execution priority. It can also be set according to the start time of each task, that is, the earlier the start time, the higher the execution priority.

[0130] Further, if the execution priority of the first service is lower than that of the second service, the first execution time can be updated to be earlier or later than the second execution time. If the execution priority of the first service is higher than that of the second service, the first execution time remains unchanged, and the execution of the second service is suspended within the first execution time. Other idle execution times can also be allocated for the second service. If the execution priorities of the first service and the second service are the same, the operation and maintenance personnel can choose which service to execute first, thereby improving the application experience.

[0131] In addition, in different time periods, the execution priorities of each service may be different. Therefore, relevant personnel can adjust the execution priorities of each service according to actual business needs. Correspondingly, an execution priority adjustment control can be set in the display interface of the terminal device, and the execution priorities of each service can be increased or decreased through the execution priority adjustment control, improving the flexibility and efficiency of execution priority adjustment.

[0132] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 6 As shown in the structural schematic diagram of the drone control device provided by the embodiment of the present application, Figure 6 as shown, the device provided in this embodiment may include:

[0133] A determination module 601, configured to determine a plurality of target objects corresponding to the first service.

[0134] A processing module 602, configured to obtain a first flight path and a first execution time according to the states of the plurality of target objects and the construction site situation.

[0135] The processing module 602 is further configured to control the drone to photograph the plurality of target objects based on the first flight path within the first execution time.

[0136] In addition, in another embodiment, the processing module 602 is further configured to:

[0137] Determine the states of the plurality of target objects, and determine the first execution time according to the states of the plurality of target objects, where the states include a normal shooting state and an abnormal shooting state.

[0138] Determine the construction site situation of the construction site where the plurality of target objects are located, and determine the first flight path according to the construction site situation, where the construction site situation is used to indicate the obstacle environment when the drone is flying.

[0139] Further, the processing module 602 is further configured to:

[0140] Determine the number of target objects in the normal shooting state in different time periods.

[0141] Determine a target time period, where the target time period is the time period with the largest number of target objects in a normal shooting state.

[0142] If, within the target time period, the number of target objects in a normal shooting state is higher than a quantity threshold, then set the target time period as a first execution time.

[0143] In addition, in another embodiment, the processing module 602 is further configured to:

[0144] Determine on-site data of target objects in an abnormal shooting state in the first service within the first execution time.

[0145] In addition, in another embodiment, the processing module 602 is further configured to:

[0146] If there is a second service within the first execution time, then determine whether there is a conflict between the first service and the second service according to the target objects corresponding to the first service and the target objects corresponding to the second service.

[0147] If there is a conflict between the first service and the second service, then re-plan the shooting methods of the first service and the second service.

[0148] Furthermore, the processing module 602 is further configured to:

[0149] Judge whether there is an intersection between the target objects corresponding to the second service and the target objects corresponding to the first service, and obtain a first result.

[0150] Judge whether there is a shooting conflict between the first service and the second service according to the first result.

[0151] Alternatively, obtain a second flight path corresponding to the second service, where the second flight path is generated according to the on-site situation of the construction site where the target objects corresponding to the second service are located.

[0152] Judge whether there is an intersection between the second flight path and the first flight path, and obtain a second result.

[0153] Judge whether there is a path conflict between the first service and the second service according to the second result.

[0154] Furthermore, the processing module 602 is further configured to:

[0155] If there is a shooting conflict between the first service and the second service, then shoot the target objects with shooting conflicts to obtain on-site data of the target objects with shooting conflicts.

[0156] When performing the first service or the second service, directly obtain the on-site data of the target object with a shooting conflict.

[0157] Furthermore, the processing module 602 is further configured to:

[0158] If there is a path conflict between the first service and the second service, re-plan the first flight path and the second flight path to obtain a new first flight path and a new second flight path without an intersection.

[0159] Furthermore, the processing module 602 is further configured to:

[0160] If there is a conflict between the first service and the second service, obtain the execution priorities of the first service and the second service.

[0161] If the execution priority of the first service is lower than that of the second service, update the first execution time to be earlier than or later than the second execution time, where the second execution time is the execution time corresponding to the second service.

[0162] If the execution priority of the first service is higher than that of the second service, keep the first execution time unchanged and suspend the execution of the second service within the first execution time.

[0163] The device provided in the embodiments of the present application can implement the method of the above Figure 2 shown embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0164] Figure 7 is a schematic hardware structure diagram of the electronic device provided in the embodiments of the present application. As Figure 7 shown, the device 700 provided in this embodiment includes: a processor 701, and a memory communicatively connected to the processor. Among them, the processor 701 and the memory 702 are connected through a bus 703.

[0165] In a specific implementation process, the processor 701 executes the computer execution instructions stored in the memory 702, so that the processor 701 executes the method in the above method embodiments.

[0166] The specific implementation process of the processor 701 can refer to the above method embodiments. The implementation principle and technical effects are similar and will not be elaborated here in this embodiment.

[0167] In the above Figure 7In the illustrated embodiments, it should be understood that the processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in connection with the invention may be directly embodied as being executed and completed by a hardware processor, or may be executed and completed by a combination of hardware and software modules in the processor.

[0168] The memory may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

[0169] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0170] The embodiments of this application also provide a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the drone control method of the above method embodiments is implemented.

[0171] The embodiments of this application also provide a computer program product, including a computer program. When the computer program is executed by the processor, the drone control method as described above is implemented.

[0172] The above computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0173] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0174] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disk, or optical disc that can store program codes.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a drone, characterized in that, The method includes: Determine multiple target objects corresponding to the first service; Determine the status of the multiple target objects, and determine the first execution time according to the status of the multiple target objects, where the status includes a normal shooting status and an abnormal shooting status, the normal shooting status indicates that the construction situation of the target object does not affect the UAV shooting, and the abnormal shooting status indicates that the construction situation of the target object affects the UAV shooting or does not allow shooting; Determine the construction site situation of the construction site where the multiple target objects are located, and determine the first flight path according to the construction site situation, where the construction site situation is used to indicate the obstacle environment when the UAV is flying; control the UAV to shoot the multiple target objects based on the first flight path within the first execution time.

2. The method according to claim 1, wherein The determining the first execution time according to the status of the multiple target objects includes: Determine the number of target objects in the normal shooting status in different time periods; Determine the target time period, where the target time period is the time period with the largest number of target objects in the normal shooting status; If the number of target objects in the normal shooting status in the target time period is higher than the number threshold, set the target time period as the first execution time.

3. The method according to claim 2, characterized in that, After obtaining the first flight path, it further includes: Determine the on-site data of the target objects in the abnormal shooting status in the first service within the first execution time.

4. The method according to any one of claims 1-3, characterized in that, After obtaining the first flight path and the first execution time, it further includes: If there is a second service within the first execution time, determine whether there is a conflict between the first service and the second service according to the target objects corresponding to the first service and the target objects corresponding to the second service; If there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service.

5. The method according to claim 4, wherein The determining whether there is a conflict between the first service and the second service according to the target objects corresponding to the first service and the target objects corresponding to the second service includes: Determine whether there is an intersection between the target objects corresponding to the second service and the target objects corresponding to the first service, and obtain a first result; Judge whether there is a shooting conflict between the first service and the second service according to the first result; Or, Obtain the second flight path corresponding to the second service, where the second flight path is generated according to the construction site situation of the construction site where the target objects corresponding to the second service are located; Determine whether there is an intersection between the second flight path and the first flight path, and obtain a second result; Judge whether there is a path conflict between the first service and the second service according to the second result.

6. The method according to claim 5, characterized in that, The re-planning the shooting methods of the first service and the second service if there is a conflict between the first service and the second service includes: If there is a shooting conflict between the first service and the second service, shoot the target objects with shooting conflicts to obtain the on-site data of the target objects with shooting conflicts; When performing the first service or the second service, directly obtain the on-site data of the target object with a shooting conflict.

7. The method according to claim 5, wherein If there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, including: If there is a path conflict between the first service and the second service, re-plan the first flight path and the second flight path to obtain new first and second flight paths without an intersection.

8. The method according to claim 4, wherein If there is a conflict between the first service and the second service, re-plan the shooting methods of the first service and the second service, including: If there is a conflict between the first service and the second service, obtain the execution priorities of the first service and the second service; If the execution priority of the first service is lower than that of the second service, update the first execution time to be earlier than or later than the second execution time, where the second execution time is the execution time corresponding to the second service; If the execution priority of the first service is higher than that of the second service, keep the first execution time unchanged and suspend the execution of the second service within the first execution time.

9. An electronic device, characterized in that, Including: A processor and a memory communicatively connected to the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the unmanned aerial vehicle control method according to any one of claims 1-8.

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