Interaction method and device for task interruption of unmanned aerial vehicle and data server

Abstract

The invention provides an interaction method and device for task interruption of an unmanned aerial vehicle and a data server, and relates to the technical field of flight control, and the method comprises the steps that the data server receives task interruption data reported by the unmanned aerial vehicle; the data server plans a flight continuing route based on the task interruption data; if the unmanned aerial vehicle hangar monitors that the unmanned aerial vehicle in the unmanned aerial vehicle hangar meets the preset task execution condition, the unmanned aerial vehicle hangar enters a standby state; if the data server monitors that the unmanned aerial vehicle hangar enters a standby state, the data server sends a continuous flight route to the unmanned aerial vehicle hangar; and the unmanned aerial vehicle receives the follow-up flight route sent by the unmanned aerial vehicle hangar and executes the follow-up flight route. Through interaction among the data server, the unmanned aerial vehicle hangar and the unmanned aerial vehicle, the unmanned aerial vehicle can automatically execute an uncompleted task route when the task is interrupted, so that the task execution capability of the unmanned aerial vehicle is quickly recovered.

Description

Technical Field

[0001] The present invention relates to the field of flight control technology, and in particular to an interactive method, device and data server for interrupting a UAV mission. Background Art

[0002] In actual applications, drone flight missions may be interrupted due to various reasons, such as low temperature, strong winds, communication failures, insufficient power, environmental interference (such as wind, rain, etc.), GPS (Global Positioning System) signal loss or system failure. These interruptions may lead to drone mission failure, data loss, or even damage to the drone. At present, in order to solve the above problems, relevant technologies propose that the drone record the key location of the mission and continue to operate from this location after restoring the mission execution capability, so as to achieve the purpose of breakpoint flight. However, this technology requires the drone to have strong processing capabilities, and manual assistance is required to restore the drone's mission execution capability, resulting in a low degree of automation and mission execution efficiency. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide an interactive method, device and data server for drone mission interruption, which can significantly reduce the requirements on the processing power of the drone, and can also effectively improve the degree of automation of the drone control process and improve the mission execution efficiency of the drone.

[0004] In a first aspect, the present invention provides an interactive method for interrupting a drone mission, comprising: The data server receives the mission interruption data reported by the drone; wherein the mission interruption data is generated when the drone triggers the return action, and the return action is triggered when the drone does not meet the preset mission execution conditions during the execution of the current mission route; The data server plans the flight route based on the mission interruption data; If the drone in the drone hangar monitors that the drone has met the preset mission execution conditions, it will enter the standby state; If the data server monitors that the drone hangar enters the standby state, it will send the flight route to the drone hangar; The drone receives the continuation flight route sent by the drone hangar and executes the continuation flight route.

[0005] In one implementation, planning a flight continuation route based on mission interruption data includes: Based on the mission interruption data, planning the corresponding take-off route of the UAV; and based on the mission interruption data, intercepting the remaining route of the UAV that has not been executed in the target mission route; The takeoff route and the remaining route are spliced ​​to obtain the continuation route corresponding to the target mission route.

[0006] In one embodiment, planning a takeoff route corresponding to the UAV based on the mission interruption data includes: According to the mission interruption data, the first target waypoint that the UAV passes through during the return process is extracted; wherein the first target waypoint includes the interruption point, the return point and the landing point, and the return point is the waypoint where the UAV is located when it starts to perform the return action; According to the interruption point, return point and landing point in the first target waypoint, the corresponding take-off route of the UAV is generated.

[0007] In one embodiment, generating a take-off route corresponding to the drone according to the interruption point, the return point, and the landing point in the first target waypoint includes: The interruption point and the return point in the first target waypoint are compared with the preset safety altitude to screen out the waypoints above the safety altitude, and the corresponding take-off route of the UAV is generated according to the screened waypoints and landing points.

[0008] In one embodiment, planning a takeoff route corresponding to the UAV based on the mission interruption data further includes: According to the mission interruption data, extract the second target waypoints that the UAV passes during the return process; wherein the second target waypoints include the interruption point and the landing point; Based on the interruption point and landing point in the second target waypoint, an obstacle avoidance route is planned to obtain the corresponding take-off route of the UAV.

[0009] In one embodiment, intercepting the remaining route of the drone that has not been executed in the target mission route based on the mission interruption data includes: When the current mission route is a continuation route planned based on the mission interruption data reported by the drone last time, determine the current index of the interruption point in the current mission route; The target index of the interruption point in the target mission route is determined based on the current index, so as to intercept the remaining route not executed by the UAV in the target mission route according to the target index.

[0010] In one implementation, when a drone hangar is monitored to enter a standby state, a continued flight route is sent to the drone hangar, including: Determine whether the target mission route is marked with a breakpoint continuation mark, which is used to indicate whether the drone automatically executes the continuation route corresponding to the target mission route; If yes, add the continuation flight route to the task thread executor; The task thread executor monitors whether the drone hangar enters the standby state, and when it is monitored that the drone hangar enters the standby state, the continued flight route is sent to the drone hangar.

[0011] In one implementation, when it is monitored that the drone hangar enters a standby state, sending the continued flight route to the drone hangar includes: If it is monitored that the drone hangar enters the standby state, and the time taken for the drone hangar to enter the standby state does not exceed the preset time range, the continued flight route will be sent to the drone hangar.

[0012] In one embodiment, the method further comprises: If the drone receives other mission routes sent by the drone hangar, the drone compares the priorities of the remaining routes in the current mission route with the priorities of the other mission routes; If the drone determines that the priority of the other mission route is higher than the current mission route, the drone will interrupt the execution of the current mission route; The UAV executes the other mission routes based on the interruption point after the interruption.

[0013] In a second aspect, the present invention provides an interactive system for interrupting a drone mission, comprising: The data server is used to: receive the mission interruption data reported by the drone; wherein the mission interruption data is generated when the drone triggers the return action, and the return action is triggered when the drone does not meet the preset mission execution conditions during the execution of the current mission route; The data server is also used to: plan the flight route based on the mission interruption data; The drone hangar is used to: if the drone monitored in the drone hangar has met the preset mission execution conditions, it will enter the standby state; The data server is also used to: if it monitors that the drone hangar enters the standby state, send the flight route to the drone hangar; The drone is used to: receive the continuation flight route sent by the drone hangar and execute the continuation flight route.

[0014] In a third aspect, the present invention provides a data server, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement any one of the methods provided in the first aspect.

[0015] The present invention provides an interactive method, device and data service for the interruption of a UAV mission. The data server receives the mission interruption data reported by the UAV. The mission interruption data is generated when the UAV triggers a return action. The return action is triggered when the UAV does not meet the preset mission execution conditions during the execution of the current mission route. The data server plans the flight continuation route based on the mission interruption data. If the UAV hangar monitors that the UAV in the UAV hangar has met the preset mission execution conditions, it enters the standby state. If the data server monitors that the UAV hangar enters the standby state, the flight continuation route is sent to the UAV hangar. The UAV receives the flight continuation route sent by the UAV hangar and executes the flight continuation route. The above method is that the data server receives the mission interruption data reported by the UAV during the execution of the current mission route, and plans the flight continuation route. When the UAV hangar is in the standby state, the flight continuation route can be sent to the UAV hangar, and the UAV hangar controls the UAV to execute the flight continuation route. The embodiment of the present invention can significantly reduce the requirements for the processing capacity of the UAV, and can also effectively improve the automation of the UAV control process and improve the mission execution efficiency of the UAV. Through the interaction between the data server, drone hangar and drones, it is ensured that the drone can automatically execute the unfinished mission route when the mission is interrupted, so as to quickly restore the drone's mission execution capability.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flowchart of an interactive method for interrupting a drone mission provided by an embodiment of the present invention; Figure 2 A schematic diagram of the overall flow of an interactive method for interrupting a drone mission provided by an embodiment of the present invention; Figure 3 A schematic diagram of a breakpoint-resume flight provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an interactive system for interrupting a drone mission provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a data server provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] At present, the relevant technology requires that the UAV has strong processing capabilities, and at the same time requires human assistance to restore the UAV's mission execution capability, resulting in a low degree of automation and task execution efficiency. Based on this, the present invention implements an interactive method, device and data server for UAV mission interruption, which can significantly reduce the requirements for the UAV's processing capabilities, and can also effectively improve the degree of automation of the UAV control process and improve the UAV's mission execution efficiency.

[0022] To facilitate understanding of this embodiment, firstly, a method for interacting with a drone task interruption disclosed in an embodiment of the present invention is described in detail. Figure 1 The flowchart of an interactive method for interrupting a UAV mission is shown, and the method mainly includes the following steps S102 to S110: Step S102: The data server receives the mission interruption data reported by the drone.

[0023] Among them, the mission interruption data is generated when the drone triggers the return action, and the mission interruption data is used to record the longitude, latitude, altitude, interruption waypoint index coordinates and other information of the interruption location. The return action is triggered when the preset mission execution conditions are not met during the execution of the current mission route by the drone. The current mission route is also the mission route that the drone is currently executing. It can be the target mission route that needs to be completed when the drone is not actually interrupted, or it can be a planned continuation flight route. For example, the target mission route can be a mission route planned for long-term tasks such as border monitoring, pipeline inspection, power inspection, and disaster inspection. The target mission route is stored in the data server, and the drone executes the route mission through the target mission route. The mission execution condition can be the drone's own conditions or external conditions. For example, the drone's own conditions can be the drone's battery power is lower than the preset power threshold, communication failure, GPS signal loss, system failure, etc. The external conditions can be environmental interference such as low temperature and strong wind, or the drone's mission is interrupted when other mission routes are issued by the drone hangar.

[0024] The data server can be a cloud server or a local server. The cloud server is hosted in the data center of the cloud service provider, and users access it through the Internet. The cloud service provider of the cloud server is responsible for the maintenance, upgrade and security management of the hardware. The local server is located in the local facilities of the user or enterprise, and the user or enterprise can manage and maintain it by themselves.

[0025] In one example, the drone is executing the current mission route. When it detects that the mission execution conditions are not met, it triggers the return action. When the return action is triggered, the drone generates mission interruption data and reports it to the data server. At the same time, it starts to execute the return action and lands in the drone hangar.

[0026] Step S104: the data server plans a flight continuation route based on the mission interruption data.

[0027] In one example, after the data server receives the mission interruption data, it can use the data to extract the interruption point, return point and landing point. The interruption point is the waypoint when the return action is triggered, and the return point is the waypoint when the return action is started. The longitude and latitude of the interruption point and the return point are consistent, and the height of the interruption point is different from the height of the return point. The landing point is the waypoint where the drone is located when it starts to land with respect to the drone hangar.

[0028] On this basis, the take-off route is planned based on the extracted waypoints, and the remaining route not executed by the drone in the target mission route is intercepted using the mission interruption data, and the take-off route and the remaining route are spliced ​​to obtain the continuation route. That is, the continuation route includes: the take-off route and the remaining route not executed by the drone in the target mission route, and the take-off route is: the route between the landing point where the drone performs the landing action against the drone hangar and the interruption point where the drone triggers the return action.

[0029] In actual applications, if a drone triggers the return action multiple times during a long-distance mission, a new mission route will be planned each time based on the new mission interruption data and the target mission route, so that the drone can directly navigate to the interruption location after meeting the mission execution conditions and continue to perform subsequent tasks. The new mission route planned each time can be called a continued flight route.

[0030] Step S106, if the drone hangar monitors that the drone in the drone hangar has met the preset task execution conditions, it enters a standby state.

[0031] The standby state is used to indicate that the drones in the drone hangar have met the mission execution conditions. In one example, when a drone lands in the drone hangar, the drone hangar will automatically perform power-off, battery replacement, self-check, etc. on the drone to enable the drone to meet the mission execution conditions without human assistance, such as making the drone battery power higher than a preset power threshold. When the drones in the drone hangar have met the mission execution conditions, the drone hangar will enter the standby state.

[0032] Step S108: If the data server detects that the drone hangar has entered a standby state, the continued flight route will be sent to the drone hangar.

[0033] Step S110, the drone receives the continued flight route sent by the drone hangar, and executes the continued flight route.

[0034] In one example, after the UAV mission is interrupted, the prior art usually uses manual operation to restore the UAV mission, which increases the complexity of manual operation. Therefore, this application uses the continuation flight route issued by the UAV hangar to ensure that the UAV can automatically resume the interrupted mission without manual operation. In addition, the standby status of the UAV is monitored by the UAV hangar to ensure the endurance of the UAV, so that when the continuation flight route is issued, the UAV can have sufficient power to complete the continuation flight route, ensuring a high degree of mission completion.

[0035] In one example, when the drone hangar is in standby state, the data server sends the continuation flight route to the drone hangar, and the drone hangar controls the drone to execute the continuation flight route. The drone will navigate to the interruption location according to the continuation flight route and continue to perform subsequent tasks.

[0036] The interactive method for UAV mission interruption provided by the embodiment of the present invention is that the data server receives the mission interruption data reported by the UAV during the execution of the current mission route, and plans the continuation flight route. When the UAV hangar is in a standby state, the continuation flight route can be sent to the UAV hangar, and the UAV hangar controls the UAV to execute the continuation flight route. The embodiment of the present invention can significantly reduce the requirements on the processing power of the UAV, and can also effectively improve the degree of automation of the UAV control process and improve the mission execution efficiency of the UAV.

[0037] Regarding the aforementioned step S102, in an embodiment of the present invention, when the drone is executing the current mission route, the data server will call the interruption record reporting interface regardless of any circumstances as long as the drone returns, and report the mission interruption data such as the longitude, latitude, altitude, route waypoint interruption point index coordinates of the aircraft interruption position to the data server in real time. After receiving the reporting request, the cloud service will persist the mission interruption data in the database.

[0038] For example, drones need to have intelligent battery management functions to ensure that there is enough power to complete the mission or return safely after an interruption. The battery management function is also called low-battery automatic return: when the battery is insufficient to complete the mission, the return or landing procedure is automatically triggered to ensure the safety of the drone. When the return and landing procedure is triggered, the mission interruption data can be generated and reported.

[0039] For the aforementioned step S104, the embodiment of the present invention provides an implementation method for planning a flight continuation route, and the data server should use the stored mission interruption data to recalculate the flight continuation route to continue the mission. Specifically, it includes steps 1 to 2: Step 1: plan a take-off route corresponding to the UAV based on the mission interruption data; and intercept the remaining route that the UAV has not executed in the target mission route based on the mission interruption data.

[0040] There are two types of flight route planning strategies: Strategy 1: According to the mission interruption data, the first target waypoints passed by the drone during the return process are extracted. The first target waypoints include the interruption point, the return point and the landing point. According to the interruption point, the return point and the landing point in the first target waypoint, the corresponding take-off route of the drone is generated. Specifically, the interruption point and the return point in the first target waypoint are respectively compared with the preset safety height to filter out the waypoints higher than the safety height, and the corresponding take-off route of the drone is generated according to the waypoints and landing points obtained by the screening. For example, if the height of the interruption point is higher than the safety height, and the height of the return point is lower than the safety height, the take-off route is obtained by splicing the interruption point and the landing point; otherwise, the take-off route is obtained by splicing the return point and the landing point. Furthermore, if the height of the interruption point and the height of the return point are both higher than the safety height, the higher waypoint of the interruption point and the return point can be selected and spliced ​​with the landing point to obtain the take-off route.

[0041] Strategy 2: Based on the mission interruption data, extract the second target waypoints that the drone passes during the return process. The second target waypoints include the interruption point and the landing point. Based on the interruption point and the landing point in the second target waypoints, perform obstacle avoidance route planning to obtain the corresponding takeoff route of the drone. Specifically, use the obstacle avoidance algorithm to create an obstacle avoidance route based on the interruption point and the landing point, and use the obstacle avoidance route as the takeoff route.

[0042] Furthermore, each waypoint in the current mission route can be configured with multiple actions. Assuming that the interruption point extracted from the mission interruption data is a mission point, and there are multiple actions corresponding to the mission point, and the drone only performs some of the actions corresponding to the mission point when reporting the mission interruption data, then when planning the takeoff route, it is necessary to determine the index of the interruption point as the index of the previous mission point or the current mission point, and re-execute all actions of the current mission point. If the index of the interruption point is determined to be the index of the previous mission point, there is no need to execute the action corresponding to the previous mission point again, but directly fly to the current mission point and re-execute all actions of the current mission point.

[0043] The process of intercepting the remaining routes is as follows: the route ID and waypoint information set of the corresponding task are obtained through the reported task interruption data, and the remaining routes in the target task route are intercepted through the reported interruption point index.

[0044] However, in actual applications, when the current mission route is a continuation flight route, the index of the interruption point in the current mission route is different from its index in the target mission route, so the remaining route cannot be directly intercepted from the target mission route. To solve this problem, an embodiment of the present invention provides a specific implementation method for intercepting the remaining route: (1) When the current mission route is a continuation flight route planned based on the mission interruption data reported by the drone last time, determine the current index of the interruption point in the current mission route; (2) Determine the target index of the interruption point in the target mission route based on the current index, so as to intercept the remaining route that the drone has not executed in the target mission route according to the target index. For example, the current mission route is a continuation flight route planned based on interruption point A. If the return action is triggered again during the drone's execution of the continuation flight route, the interruption point when the return action is triggered is recorded as interruption point B. First, the current index corresponding to the interruption point B is determined from the current mission route; then, the matching relationship between each waypoint in the current mission route and each waypoint in the target mission route is determined by spatially matching each waypoint in the current mission route with each waypoint in the target mission route. The target index corresponding to the current index of the interruption point B in the target mission route can be determined by using the matching relationship, and then the remaining route not executed by the UAV in the target mission route can be intercepted according to the target index.

[0045] Specifically, the current index of the interruption point in the current mission route corresponds to the latitude, longitude and altitude information of the interruption point. And the index of the interruption point is the index of the mission point in the current mission route. For example, if a mission interruption occurs between point A and point B, and the execution time of the mission at point A is earlier than the execution time of the mission at point B, the index corresponding to point B is determined to be the index of the interruption point. Or if a mission interruption occurs at point B, then the index corresponding to point A or the index corresponding to point B is the index of the interruption point. Preferably, if a mission interruption occurs at point B and the action corresponding to point B is not completed, in order to ensure that the drone does not repeat the action at point A, the index corresponding to point B is determined to be the index of the interruption point. In addition, if the index corresponding to point A is determined to be the index of the interruption point, it is necessary to issue a command to the drone so that the drone does not execute the action corresponding to point A. Finally, the index of the corresponding mission point to be completed and the remaining unfinished route can be determined from the target mission route through the latitude, longitude, altitude, etc. corresponding to the index of the interruption point. Step 2, splicing the takeoff route and the remaining route to obtain the continuation route corresponding to the target mission route. Among them, the take-off route is the waypoint between the landing point and the interruption point, and the remaining route is the waypoint between the interruption point and the subsequent tasks. By splicing the two parts of the waypoints, a complete continuation route can be obtained. The drone can navigate to the interruption point according to the continuation route and continue to perform subsequent tasks.

[0046] In the specific implementation, after the data server receives the mission interruption data, it will determine whether the target mission route is completed based on the interruption point index in the mission interruption data; if the target mission route is not completed, the remaining route will be intercepted and spliced ​​with the take-off route to plan the continuation route; conversely, if the target mission route has been completed, there is no need to plan the continuation route.

[0047] For the aforementioned step S108, the embodiment of the present invention provides an implementation method of sending the flight route to the drone hangar upon monitoring that the drone hangar enters the standby state, including the following steps (a) to (c): Step (a) determines whether the target mission route is marked with a breakpoint continuation mark, which is used to indicate whether the drone automatically executes the continuation route corresponding to the target mission route. In one example, the breakpoint continuation switch of the target mission route can be pre-configured. If the state of the breakpoint continuation switch is on, the target mission route will be marked with a breakpoint continuation mark, which automatically triggers the drone to execute the continuation route; conversely, if the state of the breakpoint continuation switch is off, the target mission route will not be marked with a breakpoint continuation mark, which manually triggers the drone to execute the continuation route.

[0048] Step (b), if yes, then add the flight route to the task thread executor, monitor whether the drone hangar enters the standby state through the task thread executor, and send the flight route to the drone hangar when it is monitored that the drone hangar enters the standby state.

[0049] In one example, after the drone returns to the drone hangar, the drone hangar will perform power-off and battery replacement operations on the drone. The battery replacement operation is to select a battery with less usage and a battery level higher than a preset battery threshold (i.e., a higher battery level) from multiple alternative batteries, and load it onto the drone so that the drone meets the mission execution conditions.

[0050] At the same time, after the continuation flight route is generated, the data server obtains the current state of the drone hangar through the task thread executor at a preset time interval. If the drone hangar is monitored to enter the standby state, and the time taken for the drone hangar to enter the standby state does not exceed the preset time range, the continuation flight route will be sent to the drone hangar. Exemplarily, the task thread executor obtains the current state of the drone hangar every 1 minute. If the drone hangar is not monitored to enter the standby state within 30 minutes, the continuation flight route will be removed from the task thread executor to release the resources of the data server; if the drone hangar is monitored to enter the standby state within 30 minutes, the continuation flight route will be sent to the drone hangar so that the drone hangar can control the drone to execute the continuation flight route.

[0051] Step (c), if the target mission route is not marked with a breakpoint resume mark, then upon receiving the route execution instruction sent by the designated associated terminal, the resume route is sent to the drone hangar. In one example, the embodiment of the present invention supports the function of manually triggering the breakpoint resume, and the user can send the resume route to the drone hangar through the designated associated terminal, and then the drone hangar controls the drone to execute the resume route.

[0052] Furthermore, if the drone receives other mission routes sent by the drone hangar, it will compare the priority of the remaining routes in the current mission route with the priority of other mission routes; if the drone determines that the priority of other mission routes is higher than the current mission route, it will interrupt the execution of the current mission route; the drone will execute other mission routes based on the interruption point after the interruption. In the specific implementation, the drone will execute the mission routes in order from high to low priority, that is, when the priority of the remaining routes in the current mission route is higher than the priority of other mission routes, the drone will give priority to executing the remaining routes in the current mission route, but when the priority of the remaining routes in the current mission route is lower than the priority of other mission routes, the drone will first interrupt the current mission route, and use the interruption point where the drone is when the current mission route is interrupted as the take-off point of other mission routes, and execute other mission routes from this take-off point. Among them, the route between the interruption point where the drone is located and the starting point of other mission routes can be based on obstacle avoidance rules, so that the drone can avoid collisions in the process of flying from the interruption point to the starting point of other mission routes. Alternatively, a transition point can be generated, the height of which is greater than or equal to the safety height, and a continuation flight route can be constructed through the interruption point, transition point and the starting point of other mission routes, so that the drone starts from the interruption point, passes through the transition point, and flies to the starting point of other mission routes, thereby completing the tasks of other mission routes. In addition, the setting of the safety height is to ensure that the drone does not touch the equipment during the flight to other mission routes. It should be understood that when the drone is operating in dense equipment, if the drone does not set obstacle avoidance rules, it will cause the drone to collide in the process of flying from the interruption point to the starting point of other mission routes. Therefore, setting a safety height prevents the drone from passing through dense equipment and causing collisions.

[0053] In one embodiment, the present invention also provides Figure 2The overall flow diagram of an interactive method for interrupting a UAV mission is shown. It includes: the data server sends the target mission route to the UAV hangar through the IOTService Internet of Things service; the UAV hangar sends the target mission route to the UAV, and the UAV supports breakpoint return; judge whether the target mission route is interrupted; if interrupted, return when the target mission route is completed; if not interrupted, report the mission interruption data and persist the mission interruption data; plan the flight continuation route, including: create a flight continuation route, create waypoints, create waypoint actions, create tasks, etc.; judge whether the breakpoint flight continuation switch of the target mission route is turned on; if not turned on, the task ends, and the UAV is manually triggered to execute the flight continuation route later; if turned on, the flight continuation route is added to the task thread executor, and the task thread executor obtains the status of the UAV hangar. If the UAV hangar does not enter the standby / transmission state, it sleeps for 60s; if the UAV hangar enters the standby / transmission state within 30 minutes, the data server sends the flight continuation route to the UAV hangar through the IOTService Internet of Things service, and repeats the above process.

[0054] In one implementation, the present invention provides an application example of an interactive method for interrupting a drone mission, see Figure 3 A schematic diagram of breakpoint continuation flight is shown, the target mission route includes waypoints 1 to 15, the UAV triggers the return action when it navigates between waypoints 4 and 5, the break between waypoints 4 and 5 is the break point, the UAV reports the mission interruption data and navigates to the return point, and returns to the UAV hangar from the return, the data server will plan the continuation flight route based on the mission interruption data, when the UAV hangar enters the standby state and receives the continuation flight route, it will control the UAV to return to the break point (break) according to the takeoff route part in the continuation flight route, and continue to fly according to waypoints 5, 6...waypoint 15. If the return action is triggered again during the flight, the above process will be repeated until the tasks at all waypoints are completed. The breakpoint continuation flight technology provided by the embodiment of the present invention enables the UAV to automatically recover to the interruption point and continue to perform the task after the interruption occurs. This technology significantly improves the reliability and efficiency of the UAV's mission execution, especially in mission scenarios with long-term flight or complex environments.

[0055] In summary, the embodiments of the present invention have at least the following characteristics: (a) mission continuity: ensuring that the mission can be continued smoothly after an interruption. After executing the previous mission, the next mission can be executed immediately. It is particularly suitable for tasks that require long-term monitoring or patrolling, such as border monitoring, pipeline inspection, power inspection, disaster inspection, etc.; (b) efficiency improvement: reducing the number of repeated flights, optimizing battery usage, and improving the efficiency of mission execution. There is no need to repeatedly pass through the waypoints of completed tasks, and only one target mission route planning is required.

[0056] Based on the above embodiments, the present invention provides an interactive system for interrupting a drone mission. Figure 4 The structure diagram of an interactive system for interrupting a UAV mission is shown in FIG. 1 , and the system mainly includes the following parts: The data server 402 is used to: receive the mission interruption data reported by the drone 406; wherein the mission interruption data is generated when the drone 406 triggers a return action, and the return action is triggered when the drone 406 does not meet the preset mission execution conditions during the execution of the current mission route; The data server 402 is also used to: plan a flight continuation route based on the mission interruption data; The drone hangar 404 is used to: if the drone 406 monitored in the drone hangar 404 has met the preset task execution conditions, then enter the standby state; The data server 402 is also used to: if it monitors that the drone hangar 404 enters the standby state, send the continued flight route to the drone hangar 404; The drone 406 is used to receive the continuation flight route sent by the drone hangar 404 and execute the continuation flight route.

[0057] The interactive system for drone mission interruption provided by the embodiment of the present invention comprises a data server receiving mission interruption data reported by the drone during the execution of the current mission route, and planning the continued flight route. When the drone hangar is in a standby state, the continued flight route can be sent to the drone hangar, and the drone hangar controls the drone to execute the continued flight route. The embodiment of the present invention can significantly reduce the requirements on the processing power of the drone, and can also effectively improve the degree of automation of the drone control process and improve the mission execution efficiency of the drone.

[0058] In one implementation, the data server 402 is specifically used for: Based on the mission interruption data, planning the corresponding take-off route of the UAV; and based on the mission interruption data, intercepting the remaining route of the UAV that has not been executed in the target mission route; The takeoff route and the remaining route are spliced ​​to obtain the continuation route corresponding to the target mission route.

[0059] In one implementation, the data server 402 is specifically used for: According to the mission interruption data, the first target waypoint that the UAV passes through during the return process is extracted; wherein the first target waypoint includes the interruption point, the return point and the landing point, and the return point is the waypoint where the UAV is located when it starts to perform the return action; According to the interruption point, return point and landing point in the first target waypoint, the corresponding take-off route of the UAV is generated.

[0060] In one implementation, the data server 402 is specifically used for: The interruption point and the return point in the first target waypoint are compared with the preset safety altitude to screen out the waypoints above the safety altitude, and the corresponding take-off route of the UAV is generated according to the screened waypoints and landing points.

[0061] In one implementation, the data server 402 is specifically used for: According to the mission interruption data, extract the second target waypoints that the UAV passes during the return process; wherein the second target waypoints include the interruption point and the landing point; Based on the interruption point and landing point in the second target waypoint, an obstacle avoidance route is planned to obtain the corresponding take-off route of the UAV.

[0062] In one implementation, the data server 402 is specifically used for: When the current mission route is a continuation route planned based on the mission interruption data reported by the drone last time, determine the current index of the interruption point in the current mission route; The target index of the interruption point in the target mission route is determined based on the current index, so as to intercept the remaining route not executed by the UAV in the target mission route according to the target index.

[0063] In one implementation, the data server 402 is specifically used for: Determine whether the target mission route is marked with a breakpoint continuation mark, which is used to indicate whether the drone automatically executes the continuation route corresponding to the target mission route; If yes, add the continuation flight route to the task thread executor; The task thread executor monitors whether the drone hangar enters the standby state, and when it is monitored that the drone hangar enters the standby state, the continued flight route is sent to the drone hangar.

[0064] In one implementation, the data server 402 is specifically used for: If it is monitored that the drone hangar enters the standby state, and the time taken for the drone hangar to enter the standby state does not exceed the preset time range, the continued flight route will be sent to the drone hangar.

[0065] In one embodiment, drone 406 is also used to: If the drone receives other mission routes sent by the drone hangar, it compares the priorities of the remaining routes in the current mission route with the priorities of the other mission routes; If the drone determines that other mission routes have a higher priority than the current mission route, it will interrupt the current mission route; The drone executes other mission routes based on the interruption point after the interruption.

[0066] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0067] An embodiment of the present invention provides a data server. Specifically, the data server includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0068] Figure 5 A structural diagram of a data server provided in an embodiment of the present invention, the data server 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53, wherein the processor 50, the communication interface 53 and the memory 51 are connected via the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0069] The memory 51 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 53 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0070] The bus 52 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0071] Among them, the memory 51 is used to store programs, and the processor 50 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0072] The processor 50 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 50. The above processor 50 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to be executed, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 51, and the processor 50 reads the information in the memory 51 and completes the steps of the above method in combination with its hardware.

[0073] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0074] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0075] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An interactive method for interrupting a UAV mission, characterized in that: include: The data server receives the mission interruption data reported by the drone; wherein the mission interruption data is generated when the drone triggers a return action, and the return action is triggered when the drone does not meet the preset mission execution conditions during the execution of the current mission route; The data server plans a flight continuation route based on the mission interruption data; If the drone hangar monitors that the drone in the drone hangar has met the preset task execution condition, the drone hangar enters a standby state; If the data server monitors that the drone hangar enters a standby state, the data server sends the continued flight route to the drone hangar; The drone receives the continued flight route sent by the drone hangar, and executes the continued flight route.

2. The interactive method for interrupting a UAV mission according to claim 1, characterized in that: Based on the mission interruption data, a continuation flight route is planned, including: Planning a takeoff route corresponding to the UAV based on the mission interruption data; and intercepting a remaining route not executed by the UAV in the target mission route based on the mission interruption data; The take-off route and the remaining route are spliced ​​to obtain a continuing flight route corresponding to the target mission route.

3. The interactive method for interrupting a UAV mission according to claim 2, characterized in that: Based on the mission interruption data, a take-off route corresponding to the UAV is planned, including: Extracting the first target waypoint that the UAV passes through during the return process according to the mission interruption data; wherein the first target waypoint includes an interruption point, a return point and a landing point, and the return point is the waypoint at which the UAV is located when it starts to perform the return action; A take-off route corresponding to the UAV is generated according to the interruption point, the return point, and the landing point in the first target waypoint.

4. The interactive method for interrupting a UAV mission according to claim 3, characterized in that: Generating a take-off route corresponding to the drone according to the interruption point, the return point, and the landing point in the first target waypoint includes: The interruption point and the return point in the first target waypoint are respectively compared with a preset safety altitude to screen out waypoints higher than the safety altitude, and a take-off route corresponding to the UAV is generated according to the screened waypoints and the landing point.

5. The interactive method for interrupting a UAV mission according to claim 2, characterized in that: Planning a takeoff route corresponding to the UAV based on the mission interruption data, further comprising: Extracting the second target waypoints passed by the UAV during the return process according to the mission interruption data; wherein the second target waypoints include an interruption point and a landing point; Obstacle avoidance route planning is performed based on the interruption point and the landing point in the second target waypoint to obtain a take-off route corresponding to the UAV.

6. The interactive method for interrupting a UAV mission according to claim 3 or 5, characterized in that: Intercepting the remaining route of the target mission route that has not been executed by the UAV based on the mission interruption data, including: When the current mission route is a continued flight route planned based on the mission interruption data previously reported by the drone, determining a current index of the interruption point in the current mission route; The target index of the interruption point in the target mission route is determined based on the current index, so as to intercept the remaining route not executed by the drone in the target mission route according to the target index.

7. The interactive method for interrupting a UAV mission according to claim 2, characterized in that: When the drone hangar is monitored to enter a standby state, the continued flight route is sent to the drone hangar, including: Determine whether the target mission route is marked with a breakpoint-resume flight mark, where the breakpoint-resume flight mark is used to indicate whether the UAV automatically executes the resume flight route corresponding to the target mission route; If yes, then add the continued flight route to the task thread executor; Whether the drone hangar enters the standby state is monitored by the task thread executor, and when it is monitored that the drone hangar enters the standby state, the continued flight route is sent to the drone hangar.

8. The interactive method for interrupting a UAV mission according to claim 7, characterized in that: When monitoring that the drone hangar enters the standby state, sending the continued flight route to the drone hangar includes: If it is monitored that the drone hangar enters the standby state, and the time taken for the drone hangar to enter the standby state does not exceed a preset time range, the continued flight route is sent to the drone hangar.

9. The interactive method for interrupting a UAV mission according to claim 1, characterized in that: The method further comprises: If the drone receives other mission routes sent by the drone hangar, the drone compares the priorities of the remaining routes in the current mission route with the priorities of the other mission routes; If the drone determines that the priority of the other mission route is higher than the current mission route, the drone will interrupt the execution of the current mission route; The UAV executes the other mission routes based on the interruption point after the interruption.

10. An interactive system for interrupting a drone mission, characterized in that: include: The data server is used to: receive the mission interruption data reported by the drone; wherein the mission interruption data is generated when the drone triggers a return action, and the return action is triggered when the drone does not meet the preset mission execution conditions during the execution of the current mission route; The data server is also used to: plan a flight continuation route based on the mission interruption data; The drone hangar is used to: enter a standby state if the drone monitored in the drone hangar has met the preset task execution condition; The data server is further used for: if it is monitored that the drone hangar enters a standby state, sending the continued flight route to the drone hangar; The UAV is used to: receive the continuation flight route sent by the UAV hangar, and execute the continuation flight route.

11. A data server, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 9.

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