A shared unmanned aerial vehicle scheduling system and a shared unmanned aerial vehicle scheduling method

Abstract

The application discloses a shared unmanned aerial vehicle scheduling system and a shared unmanned aerial vehicle scheduling method, and belongs to the shared unmanned aerial vehicle field, wherein the scheduling system comprises a plurality of scheduling centers, one scheduling center can be connected with a plurality of clients, but one client only communicates with a fixed scheduling center. Since the number of scheduling centers is large, and the scheduling center connected by one client is always the same, even if the number of clients is large, the redundant clients can be dispersed to the plurality of scheduling centers, so that the requirement of the communication link of the single scheduling center is reduced. Moreover, since the plurality of scheduling centers can communicate with each other, the task can be allocated to other scheduling centers, so that the situation that the single scheduling center has more tasks and other scheduling centers have less tasks can be avoided. In the case that the data processing and analysis capabilities of each scheduling center are not improved, the scheduling task can also be quickly completed, the efficiency is high, and the user experience is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shared unmanned aerial vehicles, in particular, to a shared unmanned aerial vehicle scheduling system and a shared unmanned aerial vehicle scheduling method. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicle technology and the widening of application fields, the market demand for shared unmanned aerial vehicles will continue to grow. In particular, in the fields of agriculture, logistics, environmental monitoring, fire rescue, etc., shared unmanned aerial vehicles will play an increasingly important role.

[0003] The existing shared unmanned aerial vehicle scheduling system architecture generally includes a client, a scheduling center and an unmanned aerial vehicle. The client is used to publish tasks, the scheduling center receives tasks and controls unmanned aerial vehicles to complete tasks according to the tasks, and the unmanned aerial vehicle is located in an unmanned aerial vehicle airport when not in use. The unmanned aerial vehicle airport provides charging, take-off and landing services for the unmanned aerial vehicle.

[0004] However, the existing unmanned aerial vehicle scheduling system is a single scheduling center, and all clients are connected to a single scheduling center. When the number of clients is large or the number of tasks published by the clients is large, the data processing and analysis capabilities of the scheduling center are required to be high, resulting in high costs. If the data processing and analysis capabilities are not improved, the tasks cannot be completed quickly, resulting in low efficiency and affecting user experience. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the present application provides a shared unmanned aerial vehicle scheduling system and a shared unmanned aerial vehicle scheduling method to solve the problem that the existing unmanned aerial vehicle scheduling system is a single scheduling center, all clients are connected to a single scheduling center, and when the number of clients is large or the number of tasks published by the clients is large, the data processing and analysis capabilities of the scheduling center are required to be high, resulting in high costs. If the data processing and analysis capabilities are not improved, the tasks cannot be completed quickly, resulting in low efficiency and affecting user experience.

[0006] The technical solution adopted by the present application to solve its technical problems is:

[0007] In a first aspect, a shared unmanned aerial vehicle scheduling system is provided, including a scheduling center, a client and an unmanned aerial vehicle.

[0008] The scheduling center is multiple, each scheduling center is connected with at least one client, and each scheduling center controls the unmanned aerial vehicles in a preset control area; the control areas of each scheduling center are different.

[0009] Each client communicates with a fixed scheduling center.

[0010] In a second aspect, a shared unmanned aerial vehicle (UAV) scheduling method is provided. The method is applied to a first scheduling center, which is a scheduling center whose control area contains a task location. The method comprises:

[0011] determining a target UAV for performing a first task, and generating a first task route for the target UAV to perform the first task;

[0012] if a second task route of a second task overlaps with the first task route, determining whether the target UAV can perform the first task and the second task simultaneously according to an electric quantity of the target UAV, the second task route being a route when the target UAV is used to perform the second task;

[0013] if yes, assigning the first task and the second task to the target UAV.

[0014] Further, the method further comprises:

[0015] if the target UAV cannot perform the first task and the second task simultaneously according to the electric quantity of the target UAV, and there are multiple third task routes of multiple third tasks intersecting with the first task route, determining an expected electric quantity of the target UAV for completing the first task and reaching a nearest UAV airport, the third task route being a route when the target UAV is used to perform the third task;

[0016] obtaining an extra electric quantity by subtracting the expected electric quantity from a current electric quantity of the target UAV;

[0017] determining a longest extra route length that the target UAV can travel based on the extra electric quantity;

[0018] determining at least one target third task from the third tasks based on the longest extra route length;

[0019] assigning the first task and the target third task to the target UAV.

[0020] Further, the determining the target UAV for performing the first task comprises:

[0021] obtaining a first task location and a first task content of the first task;

[0022] determining whether there is an idle UAV with a capability of completing the first task in a first task area, the first task area being an area of a circle with the first task location as a center and a first preset distance as a radius, the capability of completing the first task including being able to perform the first task content and having an electric quantity greater than a threshold;

[0023] If not, a first time length of a first candidate UAV is calculated, and a second time length of a second candidate UAV is calculated, the first candidate UAV being a UAV in a second task area that has the ability to complete the first task and is performing a target task, the second task area being an area in which a circle with the first task location as the center and a second preset distance as the radius, the first time length being a time length for the first candidate UAV to go to the first task location after completing the target task, the second candidate UAV being a UAV that has the ability to complete the first task and is closest to the first task location from a UAV airport where the second candidate UAV is located, and the second time length being a time length for the second candidate UAV to go to the first task location from the UAV airport where the second candidate UAV is located;

[0024] The target UAV is determined based on a size relationship between the first time length and the second time length.

[0025] Further, the determination of the target UAV based on the size relationship between the first time length and the second time length comprises:

[0026] When the first time length is greater than or equal to the second time length, the first candidate UAV is taken as the target UAV; and when the first time length is less than the second time length, the second candidate UAV is taken as the target UAV.

[0027] Further, if there is an idle UAV in the first task area that has the ability to complete the first task, the idle UAV is taken as the target UAV.

[0028] Further, if there is no third task or a target third task, the first task is assigned to the target UAV.

[0029] In a third aspect, a shared UAV dispatching method is provided and applied to a client, each client being connected to a dispatching center, and each dispatching center controlling UAVs in a control area, the method comprising:

[0030] Obtaining task information input by a user, the task information including a task location and task content;

[0031] The task content is encrypted by using a first encryption method, and the task location is encrypted by using a second encryption method; content encrypted by using the first encryption method can only be decrypted by a first dispatching center, the first dispatching center being a dispatching center whose control area includes the task location; and content encrypted by using the second encryption method can only be decrypted by a second dispatching center, the second dispatching center being a dispatching center connected to the client.

[0032] Further, the method further comprises:

[0033] encrypt the task content by using a first encryption method to obtain encrypted task content, and encrypt the task location by using a second encryption method to obtain encrypted task location; send the encrypted task content and the encrypted task location as encrypted task information to the second dispatching center;

[0034] Alternatively, encrypt the task content by using a first encryption method to obtain encrypted task content, encrypt the task location and the encrypted task content by using a second encryption method to obtain encrypted task information, and send the encrypted task information to the second dispatching center.

[0035] In a fourth aspect, a shared unmanned aerial vehicle dispatching method is provided, which is applied to a second dispatching center, and the method comprises:

[0036] When receiving encrypted task information sent by a client, decrypt the encrypted task information to obtain a task location and encrypted task content;

[0037] Determine whether the second dispatching center is the first dispatching center according to the task location;

[0038] If yes, decrypt the encrypted task content; if no, send the task location and the encrypted task content to the first dispatching center, so that the first dispatching center decrypts the encrypted task content and determines a target unmanned aerial vehicle according to the task location and the decrypted task content; the first dispatching center is a dispatching center whose control area includes the task location; and the second dispatching center is a dispatching center that establishes a connection with the client.

[0039] Advantages:

[0040] The technical scheme provided in the present application is a shared unmanned aerial vehicle dispatching system and a shared unmanned aerial vehicle dispatching method, wherein the dispatching system comprises a plurality of dispatching centers, one dispatching center can connect a plurality of clients, but one client only communicates with a fixed dispatching center. Since the number of dispatching centers is large, and the dispatching center connected by one client is always the same, even if the number of clients is large, the excess clients can be dispersed to multiple dispatching centers, thereby reducing the requirement for the communication link of a single dispatching center. Moreover, since there are multiple dispatching centers, and any two dispatching centers can communicate, the task can be allocated to other dispatching centers, thereby avoiding the situation that a single dispatching center has a large number of tasks, while other dispatching centers have a small number of tasks. In the case of not improving the data processing and analysis capability of each dispatching center, the dispatching task can also be quickly completed, which is efficient and has good user experience. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0042] Figure 1 is a shared unmanned aerial vehicle scheduling system structure schematic diagram provided by an embodiment of the present application;

[0043] Figure 2 is a shared unmanned aerial vehicle scheduling method flowchart applied to a client provided by an embodiment of the present application;

[0044] Figure 3 is a shared unmanned aerial vehicle scheduling method flowchart applied to a second scheduling center provided by an embodiment of the present application;

[0045] Figure 4 is a shared unmanned aerial vehicle scheduling method flowchart applied to a first scheduling center provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of the present application.

[0047] With reference to Figure 1 , an embodiment of the present application provides a shared unmanned aerial vehicle scheduling system, which comprises a scheduling center, a client and an unmanned aerial vehicle;

[0048] The scheduling center is multiple, any two scheduling centers can communicate, each scheduling center is connected with at least one client, and each scheduling center controls the unmanned aerial vehicles in a preset control area; the control areas of each scheduling center are different; wherein the control area is an administrative area or a region designed in advance, and the unmanned aerial vehicles in one control area are controlled by one scheduling center. Each scheduling center is one or more servers.

[0049] Each of the clients communicates with a fixed dispatch center; that is, the dispatch center communicating with each client each time is the same one, because in actual application, in order to ensure that the data of the user is not leaked, the client needs to be set on a computer with a fixed IP. After a client first establishes a communication connection with a dispatch center, in order to ensure the security of subsequent data interaction, the dispatch center records the IP address of the client at the time of the first communication. When the communication connection is disconnected, only when the IP address of the client is the same as the IP address at the time of the first communication, the client is allowed to reestablish a communication connection with the dispatch center, otherwise, the client needs to be re-registered. The contents stored by each dispatch center are independent of each other, that is, a dispatch center stores the IP address of the client, which cannot be obtained by other dispatch centers. In this way, the client with an IP address is fixedly connected with a dispatch center.

[0050] According to the above scheme, each dispatch center has its own fixed client, but since the client is used by the user to publish tasks and obtain information, and the task includes a task location and a task content, wherein the task content is the content that needs to be completed by the unmanned aerial vehicle at the task location, such as photographing, measuring, monitoring. Since each dispatch center can only load the tasks of one control area in the embodiment of the application, when the task location of the task published by the user is not in the control area of the dispatch center communicating with the client, the dispatch center needs to send the task information to the dispatch center responsible for the control area where the task location is located.

[0051] For example, the dispatch center A is responsible for the control area A, and the dispatch center B is responsible for the control area B. The client A is fixedly connected with the dispatch center A, and the user sends a task through the client A, wherein the task location is b. The task location b belongs to the control area B, and the dispatch center A cannot control the unmanned aerial vehicle in the control area B, so the task needs to be sent to the dispatch center B to enable the dispatch center B to complete the task.

[0052] For the convenience of description, the dispatch center capable of completing the task of the client is regarded as a first dispatch center from the perspective of the client in the embodiment of the application, that is, the task location of the client is in the control area of the first dispatch center, and the dispatch center communicating with the client is regarded as a second dispatch center.

[0053] When the first dispatch center and the second dispatch center are not the same dispatch center, in one embodiment, the client sends the task to the second dispatch center after encryption, the second dispatch center obtains the task location and the task content after decryption, the second dispatch center determines the first dispatch center according to the task location, and then the second dispatch center sends the task location and the task content to the first dispatch center after encryption, and the first dispatch center controls the unmanned aerial vehicle to execute the task after decryption.

[0054] However, in the above scheme, the first dispatching center and the second dispatching center can both know the specific details of the task, increasing the risk of leakage. In practice, users do not want the task they publish to be known by the dispatching center (or the second dispatching center) that cannot complete the task for their own privacy and security. Therefore, in another embodiment, the present application is designed for the client to send the task. After the user inputs the task on the client, the client divides the task into a task location and a task content. Then different encryption methods are used to encrypt the task location and the task content, so that the task content is only allowed to be decrypted by the first dispatching center and cannot be decrypted by the second dispatching center. In this way, after the client sends the task, the second dispatching center is only allowed or can only decrypt the task location, and then determines the first dispatching center according to the task location. If it is the first dispatching center, it decrypts the task content; if it is not the first dispatching center, it sends the encrypted task content and task location to the first dispatching center, and the first dispatching center decrypts the task content to control the unmanned aerial vehicle to execute the task content. This scheme can ensure that the second dispatching center cannot obtain the task content, and to a certain extent, reduce the risk of data leakage.

[0055] In another embodiment, the task location and the task content in the client can also be encrypted using an encryption method that can only be decrypted by the first dispatching center. Then when sending information to the second dispatching center, another prompt information is sent to directly inform the second dispatching center who the first dispatching center is. In this way, after the second dispatching center receives the task information and the prompt information, it does not need to decrypt the task information, but directly sends the task information to the first dispatching center. After the first dispatching center receives the encrypted task information, it decrypts the task location and the task center. In this process, the second dispatching center cannot know the task location and the task information, greatly reducing the risk of data leakage.

[0056] The dispatching system provided by the embodiments of the present application includes multiple dispatching centers. One dispatching center can connect multiple clients, but one client only communicates with a fixed dispatching center. Since the number of dispatching centers is large, and the dispatching center connected by one client is always the same, even if the number of clients is large, the excess clients can be dispersed to multiple dispatching centers, reducing the requirement for the communication link of a single dispatching center. Moreover, since there are multiple dispatching centers, and any two dispatching centers can communicate, the task can be allocated to other dispatching centers, avoiding the situation that a single dispatching center has more tasks while other dispatching centers have fewer tasks. Without improving the data processing and analysis capabilities of each dispatching center, the dispatching task can also be quickly completed, which is efficient and has good user experience. In addition, through the design of the client, the leakage of task information can be avoided, and the risk of leakage can be reduced as much as possible.

[0057] Based on the same inventive concept, the application provides a shared unmanned aerial vehicle scheduling method, applied to a client, each client being connected with a scheduling center, each scheduling center controlling unmanned aerial vehicles in a control area, as shown in the figure, the method comprises: Figure 2

[0058] S21: obtaining task information input by a user, the task information comprising a task location and a task content. Specifically, two input boxes are provided on the client, one for inputting the task location and the other for inputting the task content. Since the task content is different, the task location can be only a point or only an area, therefore, the application provides a map function in the input box of the client, so that the user can directly select a point or an area on the map as the task location.

[0059] S22: encrypting the task content by using a first encryption method and encrypting the task location by using a second encryption method; the content encrypted by using the first encryption method can only be decrypted by a first scheduling center, the first scheduling center being a scheduling center in the control area of the scheduling center for the task location; the content encrypted by using the second encryption method can only be decrypted by a second scheduling center, the second scheduling center being a scheduling center connected with the client.

[0060] It should be noted that when the client is connected with the second scheduling center, the client generates a public key and a private key by using an encryption algorithm, the client sends the public key of the client to the second scheduling center, the second scheduling center sends the public key of the client to other scheduling centers; in addition, the second scheduling center sends the public keys of the second scheduling center and other scheduling centers to the client. It should be noted that the public keys of each scheduling center are different. When the client needs to send data to the second scheduling center, the data is encrypted by using the public key of the second scheduling center, and the second scheduling center decrypts and verifies the data sent by the client by using the private key of the second scheduling center after receiving the data.

[0061] In one embodiment, the task content is encrypted by using the first encryption method to obtain encrypted task content, and the task location is encrypted by using the second encryption method to obtain encrypted task location; the encrypted task content and the encrypted task location are sent to the second scheduling center as encrypted task information. That is, the encrypted task content and the encrypted task location are sent to the second scheduling center. In actual operation, the task content is encrypted by using the first encryption method to obtain encrypted task content, that is, the first scheduling center is determined according to the task location, and then the task content is encrypted according to the public key of the first scheduling center, and in order for the second scheduling center to verify the content successfully after receiving the content, the public key of the second scheduling center is used to encrypt the encrypted task content again, and the task location is encrypted by using the second encryption method, that is, the task location is encrypted according to the public key of the second scheduling center.

[0062] ​In another embodiment, the task content is encrypted by using a first encryption method to obtain encrypted task content, the task location and the encrypted task content are encrypted by using a second encryption method to obtain encrypted task information, and the encrypted task information is sent to the second dispatch center. In actual operation, the task content is encrypted by using the public key of the first dispatch center to obtain encrypted task content, and then the encrypted task content and the task location are encrypted by using the public key of the second dispatch center to obtain encrypted task information which is sent to the second dispatch center.

[0063] In the above two schemes, the task content is encrypted by using the public key of the first dispatch center, so that only the first dispatch center can decrypt, the second dispatch center cannot decrypt, and thus cannot obtain the task content, thereby reducing the risk of data leakage.

[0064] Based on the same inventive concept, the embodiments of the present application also provide a shared unmanned aerial vehicle dispatch method applied to a second dispatch center, as shown in the following. Figure 3 The method comprises the following steps.

[0065] S31: When receiving the encrypted task information sent by the client, the encrypted task information is decrypted to obtain the task location and encrypted task content; that is, the encrypted task information is decrypted and verified by using the private key of the second dispatch center.

[0066] S32: It is judged whether the second dispatch center is the first dispatch center according to the task location; that is, it is judged whether the task location belongs to the control area of the second dispatch center. If yes, the second dispatch center is the first dispatch center; if no, the first dispatch center is determined from other dispatch centers according to the control area to which the task location belongs.

[0067] S33: If yes, the encrypted task content is decrypted; that is, the encrypted task content is decrypted and verified by using the private key of the second dispatch center. If no, the task location and the encrypted task content are sent to the first dispatch center, so that the first dispatch center decrypts the encrypted task content and determines the target unmanned aerial vehicle according to the task location and the decrypted task content; the first dispatch center is the dispatch center in the control area of the task location; and the second dispatch center is the dispatch center connected with the client.

[0068] Since one dispatch center is responsible for the unmanned aerial vehicles in one control area in the present application, the tasks of each dispatch center are basically in the control area, and the probability of the same route is relatively high. Taking task A and task B as examples, the task route of task B is the same as that of task A. At this time, if the traditional dispatch method is used, the unmanned aerial vehicle needs to return after completing task A and then go to task B, or two unmanned aerial vehicles need to be dispatched to complete task A and task B, respectively, and the task completion efficiency is low.

[0069] Based on this, the application provides a shared unmanned aerial vehicle scheduling method, applied to a first scheduling center, the first scheduling center being a scheduling center whose task location is in the control area of the scheduling center, as shown in the figure. The method comprises: Figure 4

[0070] S41: determining a target unmanned aerial vehicle for performing a first task, and generating a first task route of the target unmanned aerial vehicle for performing the first task; for example, obtaining a first task location and a first task content of the first task; determining whether there is an idle unmanned aerial vehicle with the ability to complete the first task in a first task area, the first task area being an area where a circle with the first task location as the center and a first preset distance as the radius is located, and the ability to complete the first task including being able to perform the first task content and having an electric quantity greater than a threshold value.

[0071] If there is an idle unmanned aerial vehicle with the ability to complete the first task in the first task area, the idle unmanned aerial vehicle is taken as the target unmanned aerial vehicle. If there is not, a first time length of a first candidate unmanned aerial vehicle and a second time length of a second candidate unmanned aerial vehicle are calculated, the first candidate unmanned aerial vehicle being an unmanned aerial vehicle with the ability to complete the first task and being in execution of a target task in a second task area, the second task area being an area where a circle with the first task location as the center and a second preset distance as the radius is located, the first time length being a time length used by the first candidate unmanned aerial vehicle to go to the first task location after completing the target task, the second candidate unmanned aerial vehicle being an unmanned aerial vehicle with the ability to complete the first task and being closest to the first task location in an unmanned aerial vehicle airport, and the second time length being a time length used by the second candidate unmanned aerial vehicle to go to the first task location from the unmanned aerial vehicle airport; the target unmanned aerial vehicle is determined based on the size relationship between the first time length and the second time length. That is, when the first time length is greater than or equal to the second time length, the first candidate unmanned aerial vehicle is taken as the target unmanned aerial vehicle; when the first time length is less than the second time length, the second candidate unmanned aerial vehicle is taken as the target unmanned aerial vehicle.

[0072] It should be noted that the application does not improve how to generate a task route, and existing technologies are adopted.

[0073] ​S42: If the second task route of the second task overlaps with the first task route, determining whether the target UAV can complete the first task and the second task simultaneously according to the power of the target UAV, the second task route being a route when the target UAV is used as a UAV for performing the second task; in order to improve the efficiency of UAV task execution, it is necessary to control the UAV to complete multiple tasks as much as possible at one time. That is, after determining the target UAV for performing the first task, the current remaining tasks are traversed to check whether there is a task route overlapping with the first task route, wherein the overlap means that the same route length of the first task route and the second task route is greater than or equal to a first preset length. In addition, when determining whether the target UAV can complete the first task and the second task simultaneously according to the power of the target UAV, a redundant power needs to be introduced. For example, assuming that the power required for completing the first task and the second task simultaneously is m, when the current power of the target UAV is greater than or equal to m+n, it is determined that the first task and the second task can be completed simultaneously, and when the current power of the target UAV is less than m+n, it is determined that the first task and the second task cannot be completed simultaneously, wherein n is the redundant power, and the specific value is set according to the actual situation. The redundant power is set to leave a part of the power to cope with unexpected situations and ensure that the UAV can go to the UAV airport for charging.

[0074] S43: If yes, assigning the first task and the second task to the target UAV.

[0075] Further comprising: if it is determined that the target UAV cannot complete the first task and the second task simultaneously according to the power of the target UAV, and there are multiple third task routes of the third tasks intersecting with the first task route, determining the expected power of the target UAV for completing the first task and reaching the nearest UAV airport, the third task route being a route when the target UAV is used as a UAV for performing the third task; wherein the intersection means that the same length of the first task route and the third task route is less than a first preset length but greater than or equal to a second preset length, wherein the first preset length is greater than the second preset length.

[0076] Subtracting the current power of the target UAV from the expected power to obtain an additional power; determining the longest additional route length that the target UAV can travel based on the additional power; for example, a unit power required for a unit length is set or measured, and then the longest additional route is obtained by dividing the additional power by the unit power, of course, in actual situations, a redundant power needs to be left. That is, the longest additional route = (additional power-redundant power) / unit power.

[0077] determining at least one target third task in the third task based on the longest extra route length; for example, arranging the third task route lengths of the third tasks in descending order, and then comparing from the first one in the order, if the third task route length is less than or equal to the longest extra route length, the third task is taken as a target third task; if the third task route length is greater than the longest extra route length, the next third task is compared. If a target third task is determined, a remaining extra route length is obtained, the remaining extra route length = the longest extra route length - the target third task route length. Then, the target third task is deleted, and the remaining third tasks are re-arranged in descending order according to the third task route lengths, and still compared from the first one, when the third task route length is less than or equal to the remaining extra route length, the third task is taken as a target third task. The above process is repeated until the remaining extra route length is less than the minimum third task route length, and the minimum third task route length is the route length of the third task with the minimum task route length. The first task and the target third task are assigned to the target unmanned aerial vehicle.

[0078] In addition, if there is no third task or target third task, the first task is assigned to the target unmanned aerial vehicle.

[0079] The scheme provided by the embodiments of the present application can attempt to assign more tasks to the target unmanned aerial vehicle based on whether the task route of the other task coincides or intersects with the first task route when the first task is assigned to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle can complete multiple tasks at a time, and the task execution efficiency is improved.

[0080] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0081] It should be noted that in the description of the present application, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "multiple" is at least two.

[0082] Any process or method descriptions in flow charts or otherwise described herein represent embodiments that can be implemented as code (e.g., instructions for execution by a processor or a computer) for performing a certain task or set of tasks, and the present preferred embodiments include additional implementations that can not be explicitly described in flow charts. It is also understood that the processes or methods described in flow charts or otherwise described herein can be implemented by various means depending on the application, including as code, hardware, firmware, or any combination thereof. The processes or methods described in flow charts or otherwise described herein can be implemented by one or more electronic devices, such as a general purpose computer or an application specific computer, or a combination thereof. As such, it is understood that a hardware element can be an electronic device that includes one or more processors, memory, and / or other physical hardware components that are configured to perform the processes or methods described in flow charts or otherwise described herein.

[0083] It should be understood that portions of the present application can be realized with a hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized with software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized with hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0084] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, and when executed, include one or a combination of steps of the method embodiments.

[0085] In addition, each functional unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of software functional module. The integrated module, if realized in the form of software functional module and sold or used as an independent product, can also be stored in a computer readable storage medium.

[0086] The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0087] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0088] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A shared drone dispatch system, comprising: The shared unmanned aerial vehicle scheduling system comprises a scheduling center, a client and an unmanned aerial vehicle; The scheduling centers are multiple, any two of which can communicate, each of which is connected with at least one client, and each of which controls unmanned aerial vehicles in a preset control area; Each of the clients communicates with a fixed scheduling center; The client encrypts the task content by using a first encryption mode and encrypts the task location by using a second encryption mode, the content encrypted by using the first encryption mode can be decrypted only by the first scheduling center, and the first scheduling center is a scheduling center in which the task location is in the control area of the scheduling center; the content encrypted by using the second encryption mode can be decrypted only by the second scheduling center, and the second scheduling center is a scheduling center in which the client is fixedly connected; When the second scheduling center receives the encrypted task information sent by the client, the task location encrypted by using the second encryption mode is decrypted; when it is judged according to the task location that the second scheduling center is the first scheduling center, the encrypted task content encrypted by using the first encryption mode is decrypted, and when it is judged according to the task location that the second scheduling center is not the first scheduling center, the task location and the encrypted task content are sent to the first scheduling center.

2. A shared drone dispatching method, characterized in that, The first scheduling center applied to the shared unmanned aerial vehicle scheduling system of claim 1, the first scheduling center is a scheduling center in which the task location is in the control area of the scheduling center, and the method comprises: Determining a target unmanned aerial vehicle for executing a first task and generating a first task route of the target unmanned aerial vehicle for executing the first task; If there is a second task route of a second task that overlaps with the first task route, it is judged according to the electric quantity of the target unmanned aerial vehicle whether the target unmanned aerial vehicle can complete the first task and the second task simultaneously, the second task route is a route when the target unmanned aerial vehicle is used as an unmanned aerial vehicle for executing the second task; If yes, the first task and the second task are assigned to the target unmanned aerial vehicle.

3. The method of claim 2, wherein, Further comprising: If it is judged according to the electric quantity of the target unmanned aerial vehicle that the target unmanned aerial vehicle cannot complete the first task and the second task simultaneously, and there are multiple third task routes of third tasks that intersect with the first task route, the expected electric quantity of the target unmanned aerial vehicle for completing the first task and reaching the nearest unmanned aerial vehicle airport is determined, the third task route is a route when the target unmanned aerial vehicle is used as an unmanned aerial vehicle for executing the third task; The current electric quantity of the target unmanned aerial vehicle is subtracted from the expected electric quantity to obtain an additional electric quantity; Based on the additional electric quantity, the longest additional route length that the target unmanned aerial vehicle can travel is determined; Based on the longest additional route length, at least one target third task is determined from the third tasks; The first task and the target third task are assigned to the target unmanned aerial vehicle.

4. The method of claim 2, wherein: The determination of the target unmanned aerial vehicle for executing the first task comprises: Obtaining a first task location and a first task content of the first task; determining whether there is an idle unmanned aerial vehicle (UAV) in a first task area that has the ability to complete a first task, the first task area being an area of a circle with the first task location as the center and a first preset distance as the radius, the ability to complete the first task including being able to perform the first task content and having an electrical quantity greater than a threshold value; if not, calculating a first time length of a first candidate UAV and a second time length of a second candidate UAV, the first candidate UAV being a UAV in a second task area that has the ability to complete the first task and is performing a target task, the second task area being an area of a circle with the first task location as the center and a second preset distance as the radius, the first time length being a time length for the first candidate UAV to go to the first task location after completing the target task, the second candidate UAV being a UAV that has the ability to complete the first task and is closest to the first task location from a UAV airport where the UAV is located, the second time length being a time length for the second candidate UAV to go to the first task location from the UAV airport where the UAV is located; determining a target UAV based on a size relationship between the first time length and the second time length.

5. The method of claim 4, wherein: The determining a target UAV based on a size relationship between the first time length and the second time length includes: when the first time length is greater than or equal to the second time length, taking the first candidate UAV as the target UAV; and when the first time length is less than the second time length, taking the second candidate UAV as the target UAV.

6. The method of claim 4, wherein: if there is an idle UAV in the first task area that has the ability to complete the first task, taking the idle UAV as the target UAV.

7. The method of claim 3, wherein: if there is no third task or target third task, assigning the first task to the target UAV. 8.A method for sharing drone dispatching, characterized in that, a client applied to the shared UAV scheduling system of claim 1, each client establishing a connection with a scheduling center, each scheduling center controlling UAVs in a control area, and the method comprising: obtaining task information input by a user, the task information including a task location and task content; encrypting the task content using a first encryption method and encrypting the task location using a second encryption method; content encrypted using the first encryption method can only be decrypted by a first scheduling center, the first scheduling center being a scheduling center whose control area includes the task location; and content encrypted using the second encryption method can only be decrypted by a second scheduling center, the second scheduling center being a scheduling center that establishes a connection with the client.

9. The method of claim 8, wherein, further comprising: encrypting the task content using the first encryption method to obtain encrypted task content and encrypting the task location using the second encryption method to obtain an encrypted task location; sending the encrypted task content and the encrypted task location to the second scheduling center as encrypted task information; or, encrypting the task content using the first encryption method to obtain encrypted task content, encrypting the task location and the encrypted task content using the second encryption method to obtain encrypted task information, and sending the encrypted task information to the second scheduling center. 10.A method for sharing drone dispatching, characterized in that, The method applied to the second dispatching center in the shared unmanned aerial vehicle dispatching system of claim 1, comprising: When receiving the encrypted task information sent by the client, decrypting the encrypted task information to obtain a task location and encrypted task content; Determining whether the second dispatching center is the first dispatching center according to the task location; If yes, decrypting the encrypted task content; if no, sending the task location and the encrypted task content to the first dispatching center, so that the first dispatching center decrypts the encrypted task content and determines a target unmanned aerial vehicle according to the task location and the decrypted task content; the first dispatching center is a dispatching center whose control area contains the task location; the second dispatching center is a dispatching center that establishes a connection with the client.

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