Unmanned aerial vehicle flight management method, device and system and computer equipment

Abstract

The invention relates to an unmanned aerial vehicle flight management method, device and system and computer equipment, and relates to the technical field of unmanned aerial vehicle management. The method comprises the following steps: sending original flight path information to a target unmanned aerial vehicle; the target unmanned aerial vehicle flies according to the original flight path information, avoids obstacles when detecting temporary obstacles, and sends temporary flight path information generated by temporary obstacle avoidance to the server; receiving the temporary flight path information sent by the target unmanned aerial vehicle, and correcting the original flight path information according to the temporary flight path information to obtain actual flight path information of the target unmanned aerial vehicle; and adjusting flight paths of other unmanned aerial vehicles according to the actual flight path information of the target unmanned aerial vehicle. By adopting the method, the flight safety of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of drone management technology, and in particular to a drone flight management method, device, system and computer equipment. Background Art

[0002] Unmanned aircraft are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. Compared with manned aircraft, they have the advantages of small size, low cost, easy use, and low environmental requirements. UAVs have a wide range of applications and can be used in agriculture, firefighting, inspections, etc.

[0003] Currently, drones are usually controlled by a personal remote control terminal. In actual use, when drones are used for inspection in multiple areas, when drones change their paths due to obstacles or other reasons, other drones cannot avoid the drones that collide with them in time. Therefore, the current drone flight management method has the problem of low drone flight safety. Summary of the invention

[0004] Based on this, it is necessary to provide a drone flight management method, device, system and computer equipment that can improve the safety of drone flight in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for managing drone flight, comprising:

[0006] Sending the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, and avoid temporary obstacles when temporary obstacles are detected, and sending temporary flight path information generated by temporary obstacle avoidance to the server;

[0007] Receiving the temporary flight path information sent by the target UAV, and correcting the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV;

[0008] The flight paths of other UAVs are adjusted according to the actual flight path information of the target UAV.

[0009] In one embodiment, before sending the original flight path information to the target UAV, the method further includes:

[0010] Obtaining status information and inspection task information of each drone in a predetermined drone flight area; the drone flight area is a closed-loop area;

[0011] According to the state information and the inspection task information, a target drone is determined from each of the drones.

[0012] In one embodiment, the step of determining a target drone from each of the drones according to the state information and the inspection task information includes:

[0013] Determine the task type and task destination included in the inspection task information;

[0014] According to the status information of each of the drones, a candidate drone matching the mission type is selected from the drones;

[0015] According to the position information of the candidate UAVs, a target UAV closest to the mission destination is determined.

[0016] In one embodiment, obtaining the status information of each drone in a predetermined drone flight area includes:

[0017] Obtaining a radio frequency identification tag corresponding to each of the drones in the flight area;

[0018] The status information of each drone is determined according to the radio frequency identification tag corresponding to each drone and the location information sent by each drone.

[0019] In one embodiment, before sending the original flight path information to the target UAV, the method further includes:

[0020] Path planning is performed according to the mission destination and the location information of the target UAV to obtain the original flight path information.

[0021] In a second aspect, the present application also provides a drone flight management device, comprising:

[0022] A path sending module is used to send the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, avoid temporary obstacles when temporary obstacles are detected, and send temporary flight path information generated by temporary obstacle avoidance to the server;

[0023] A path correction module is used to receive the temporary flight path information sent by the target UAV, and correct the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV;

[0024] The path integration module is used to adjust the flight paths of other UAVs by avoiding the actual flight path information of the target UAV.

[0025] In a third aspect, the present application also provides a drone flight management system, the system comprising a drone nest, an identification module, a positioning module, a sensor group and a server, the server being respectively connected to the identification module, the positioning module and the sensor group in communication:

[0026] The drone nest is arranged in the flight area of ​​the drone, and is used to carry the drone and provide power for the drone;

[0027] The identification module is disposed in the drone nest and is used to identify the radio frequency identification tag of the drone;

[0028] The positioning module is arranged on the drone body and is used to obtain the position information of the drone in real time;

[0029] The sensor group is arranged on the drone body and is used to obtain the working conditions of the environment in which the drone is located in real time;

[0030] The server is used to execute the method described in any one of the above embodiments.

[0031] In one of the embodiments, the number of the servers is at least four, at least three of the servers are equidistantly arranged at the edge of the flight area, one server is arranged at the center of the flight area, and any two of the servers are communicatively connected.

[0032] In one of the embodiments, the identification module and the positioning module determine a target server closest to the drone from all the servers according to the location information of the drone, and the identification module and the positioning module are in communication with the target server.

[0033] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Sending the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, and avoid temporary obstacles when temporary obstacles are detected, and sending temporary flight path information generated by temporary obstacle avoidance to the server;

[0035] Receiving the temporary flight path information sent by the target UAV, and correcting the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV;

[0036] The flight paths of other UAVs are adjusted according to the actual flight path information of the target UAV.

[0037] The above-mentioned UAV flight management method, device, system and computer equipment, the method sends the original flight path information to the target UAV; wherein the target UAV is used to fly according to the original flight path information, and avoids obstacles when temporary obstacles are detected, and sends the temporary flight path information generated by temporary obstacle avoidance to the server, so that the target UAV can avoid obstacles in time according to temporary obstacles during flight, avoid collision and damage to the UAV, and improve the safety and flexibility of UAV flight. Receive the temporary flight path information sent by the target UAV, correct the original flight path information according to the temporary flight path information, and obtain the actual flight path information of the target UAV. The server updates the flight path of the target UAV in real time according to the temporary flight path information of the target UAV, ensuring that the target UAV can still complete the flight mission when it deviates from the original path information due to obstacle avoidance. The server further adjusts the flight paths of other UAVs according to the actual flight path information of the target UAV to avoid safety accidents caused by the overlap or intersection of the paths of other UAVs and the target UAV, further improving the safety of UAV flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] FIG1 is a diagram of an application environment of a method for managing unmanned aerial vehicle flight in one embodiment;

[0040] FIG2 is a schematic diagram of a flow chart of a method for managing a drone flight in one embodiment;

[0041] FIG3 is a schematic diagram of a process of determining a target drone in one embodiment;

[0042] FIG4 is a block diagram of a UAV flight management system according to an embodiment;

[0043] FIG5 is a block diagram of a UAV flight management device according to an embodiment;

[0044] FIG. 6 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The drone flight management method provided in the embodiment of the present application can be applied in the application environment shown in FIG. 1. The scenario includes: a target drone 102, a server 104 and other drones 106. Among them, the target drone 102 and other drones 106 communicate with the server 104 through a network. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The server 104 sends the original flight path information to the target drone 102. Among them, the target drone 102 is used to fly according to the original flight path information, and avoid obstacles when temporary obstacles are detected, and send the temporary flight path information generated by temporary obstacle avoidance to the server 104. The server 104 receives the temporary flight path information sent by the target drone 102, and corrects the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target drone. Further, the server 104 adjusts the flight path of other drones 106 according to the actual flight path information of the target drone 102.

[0047] In an exemplary embodiment, as shown in FIG2 , a method for managing drone flight is provided, which is described by taking the method applied to the server 104 in FIG1 as an example, and includes the following steps S202 to S206. Among them:

[0048] Step 202, sending the original flight path information to the target UAV.

[0049] The target UAV is used to fly according to the original flight path information, and avoid the temporary obstacle when it detects the temporary obstacle, and send the temporary flight path information generated by the temporary obstacle avoidance to the server. The temporary obstacle may be an unexpected roadblock in the original flight path of the target UAV, which did not appear when the original flight path was planned, but was temporarily encountered when the target UAV flew according to the original flight path. The temporary flight path information may be a temporary short path planned by the target UAV to avoid the temporary obstacle, and the length of the temporary path is shorter than the original path.

[0050] The original flight path information may be a default flight path planned for the target UAV.

[0051] The target UAV may be a UAV selected to perform a flight mission.

[0052] Optionally, the server plans the original flight path information of the target UAV according to the associated information of the target UAV and the geographical environment information of the flight area, and sends the original flight path information to the target UAV to instruct the target UAV to fly according to the original flight path information. When the target UAV encounters a temporary roadblock during the flight according to the original flight path information, it avoids the obstacle and sends the temporary path information generated by the obstacle avoidance to the server.

[0053] Step S204, receiving temporary flight path information sent by the target UAV, and correcting the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV.

[0054] Optionally, the server receives temporary flight path information sent by the target UAV, modifies the original flight path information based on the temporary flight path information, and obtains the actual flight path information of the target UAV, for example, determines the end point of the temporary path information, and performs path planning based on the geographic information between the end point of the temporary path information and the end point of the original path flight information, to obtain the actual flight path information of the target UAV.

[0055] Step S206: adjusting the flight paths of other UAVs according to the actual flight path information of the target UAV.

[0056] Among them, other UAVs may be UAVs in the same flight area as the target UAV, and the flight missions performed by them may have an impact on the flight missions of the target UAV.

[0057] Optionally, the server compares the actual flight path information of the target UAV with the flight paths of other UAVs to determine whether there are other UAVs whose actual flight path information overlaps or intersects with the actual flight path information of the target UAV. If the flight paths of other UAVs overlap or intersect with the actual flight path information of the target UAV, the flight paths of other UAVs are adjusted so that the flight paths of any two UAVs do not intersect or overlap, so as to avoid collisions between UAVs.

[0058] In the above-mentioned UAV flight management method, the original flight path information is sent to the target UAV; wherein the target UAV is used to fly according to the original flight path information, and avoid obstacles when temporary obstacles are detected, and the temporary flight path information generated by the temporary obstacle avoidance is sent to the server, so that the target UAV can avoid obstacles in time according to temporary obstacles during flight, avoid collision and damage to the UAV, and improve the safety and flexibility of UAV flight. The temporary flight path information sent by the target UAV is received, and the original flight path information is corrected according to the temporary flight path information to obtain the actual flight path information of the target UAV. The server updates the flight path of the target UAV in real time according to the temporary flight path information of the target UAV, ensuring that the target UAV can still complete the flight mission when it deviates from the original path information due to obstacle avoidance. The server further adjusts the flight paths of other UAVs according to the actual flight path information of the target UAV to avoid safety accidents caused by the overlap or intersection of the paths of other UAVs and the target UAV, further improving the safety of UAV flight.

[0059] In an exemplary embodiment, as shown in FIG3 , before step 202 , sending the original flight path information to the target UAV, further includes steps S302 to S304 . Among them:

[0060] Step S302, obtaining status information and inspection task information of each drone in a predetermined drone flight area.

[0061] The status information may include the operating status of the drone, the distance between the drone and the destination, the remaining battery power, the maintenance status, and the assembly equipment information.

[0062] Among them, the inspection task can be that the drone flies to the area to be inspected for monitoring or operations, such as power inspection, traffic inspection, safety inspection and communication base station inspection.

[0063] Among them, the drone flight area is a closed loop area.

[0064] Optionally, the server obtains the status information and inspection task information of each drone in the predetermined drone flight area. The predetermined drone flight area can be an area demarcated according to actual needs, and at least one drone is required to perform inspection tasks in the area. For example, in the field of fire protection, the predetermined drone flight area is an area that requires fire safety jurisdiction. The server can obtain the status information of each drone by communicating with the drone, and read the inspection task information set manually or issued by the system.

[0065] Step S304: determine the target drone from among the drones based on the status information and the inspection task information.

[0066] Optionally, the server determines the degree of match between each drone and the inspection task information based on the status information of each drone, and determines the target drone with the highest degree of match with the inspection task information from among the drones.

[0067] In this embodiment, by obtaining the status information and inspection task information of the drone and analyzing the matching degree between the status information of the drone and the inspection task, the server can intelligently select the target drone that is most suitable for performing the inspection task, optimize resource allocation, and improve inspection efficiency.

[0068] In an exemplary embodiment, step S304 determines the target drone from each drone according to the state information and the inspection task information, including:

[0069] Determine the task type and task destination included in the inspection task information; select candidate drones that match the task type from the drones based on the status information of the drones; and determine the target drone that is closest to the task destination based on the location information of the candidate drones.

[0070] Among them, the task type can be a type classified according to the application field and needs of the inspection task. For example, fire inspection, check the status and effectiveness of fire protection facilities, monitor the fire hazard area, and deal with the hidden danger in time if there is any hidden danger.

[0071] The task destination may be a location or area where the inspection task needs to be performed.

[0072] The location information may be geographic location information sent by a positioning device of the candidate UAV.

[0073] Optionally, the server determines the task type and task destination included in the inspection task information, and selects candidate drones that match the task type from the drones based on the status information of each drone. For example, based on the operating status information, remaining power, maintenance status information, and installed equipment information included in the status information of each drone, selects drones that are in operation, have remaining power sufficient to perform the inspection task, have qualified performance and do not need to be repaired, and have installed equipment corresponding to the inspection task type (e.g., if the inspection task is a fire inspection, the installed equipment needs to include a fire extinguisher and a fire detection sensor, etc.) as candidate drones. Based on the location information of the candidate drones, the distance between the location information and the task destination is calculated, and the candidate drone with the closest distance to the task destination is determined as the most matching target drone.

[0074] In this embodiment, the inspection task is automatically selected by selecting the target drone whose status information matches the task type and is closest to the task destination, thereby reducing the time for manual intervention and judgment and improving the efficiency of task allocation. In addition, the status information of drones in multiple dimensions is taken into account, which improves the success rate of inspection tasks and optimizes the use of resources.

[0075] In an exemplary embodiment, step S302 obtains status information of each drone in a predetermined drone flight area, including:

[0076] Obtain the radio frequency identification tag corresponding to each drone in the predetermined drone flight area; determine the status information of each drone based on the radio frequency identification tag corresponding to each drone and the location information sent by each drone.

[0077] Among them, Radio Frequency Identification (RFID) is a contactless automatic recognition technology that automatically identifies target objects and obtains relevant data through radio frequency signals. The recognition work does not require human intervention. As a wireless version of barcodes, RFID technology has the advantages that barcodes do not have, such as waterproof, anti-magnetic, high temperature resistance, long service life, large reading distance, data encryption on the label, larger data storage capacity, and easy change of stored information.

[0078] Optionally, the server obtains the number of the RFID tag corresponding to each drone in the predetermined drone flight area, and determines the specific model, usage (such as operation status, remaining power, equipment information, etc.) and other information of the drone associated with the RFID tag number based on the RFID tag number of each drone and the location information sent by the drone, and determines the distance of the drone from the operation destination at this time based on the location information sent by the drone. The status information of the drone is determined by combining the information associated with the RFID tag and the distance of the drone from the operation destination at this time.

[0079] In this embodiment, by combining radio frequency identification technology with the location information of the drone to obtain the status information of the drone, not only can the management efficiency and safety of the drone be improved, but also data support can be provided for subsequent decision-making.

[0080] In an exemplary embodiment, before step S202 sends the original flight path information to the target UAV, it also includes:

[0081] Path planning is performed based on the mission destination and the location information of the target UAV to obtain the original flight path information.

[0082] Among them, path planning can be to find an effective path from the starting point to the target point for a mobile entity (such as a drone) in a given environment. The effective path should not only take into account the shortest distance, but also safety, time efficiency and environmental factors.

[0083] Optionally, the server models the environment between the mission destination and the location information of the target UAV, and constructs map information of the flight area, including information such as terrain, obstacles (such as buildings, trees, etc.) and no-fly zones. The map information is updated in real time taking into account dynamic changes in the environment (such as weather and other UAVs, etc.). The location information of the target UAV is determined as the starting point, and the mission destination is determined as the destination point. The most suitable path search algorithm is used according to the complexity and real-time requirements of the environment, such as the Dijkstra algorithm when the shortest path needs to be planned, and the multi-source shortest path algorithm when the environment is highly complex, so as to obtain the original flight path information.

[0084] In this embodiment, by modeling the environment, dynamically updating and selecting a suitable path search algorithm, the flight safety, efficiency and adaptability of the UAV can be improved, and the original flight path information that is most suitable for the inspection task can be determined.

[0085] In an exemplary embodiment, as shown in FIG4 , a UAV flight management system is provided, comprising:

[0086] Drone nest, identification module, positioning module, sensor group and server.

[0087] Among them, the server is communicated and connected with the identification module, the positioning module and the sensor group respectively: the drone nest is arranged in the flight area of ​​the drone, used to carry the drone and power the drone; the identification module is arranged in the drone nest, used to identify the radio frequency identification tag of the drone; the positioning module is arranged on the drone body, used to obtain the location information of the drone in real time; the sensor group is arranged on the drone body, used to obtain the working conditions of the environment in which the drone is located in real time; the server is used to execute the method described in any one of the above embodiments.

[0088] There are at least four servers, at least three servers are evenly spaced at the edge of the flight area, one server is set at the center of the flight area, and any two servers are connected in communication.

[0089] Among them, the identification module and the positioning module determine the target server closest to the drone from all servers according to the location information of the drone, and the identification module and the positioning module are communicated with the target server.

[0090] Optionally, the identification module matches the RFID tag set for each drone, and the RFID tag is installed on the outer wall of the drone. The identification module and the RFID tag determine whether the drone is in the drone nest based on RFID technology. When the drone is in the drone nest, the positions of the identification module and the RFID tag of the drone just correspond; when the drone flies out of the drone nest, the identification module cannot recognize the RFID tag. The drone identification module establishes a wireless communication connection with the server. Among them, the RFID tag corresponds to the drone one-to-one, such as numbering the RFID tag of the drone, and the number of the RFID tag of the drone can be regarded as a symbol of the drone's identity. When data is transmitted between the RFID tag of the drone and the server, the server can determine the specific model, usage and other information of the drone based on the number of the drone identification tag. The drone nest has a built-in charging terminal that is magnetically connected to the drone. When the drone falls into the drone nest, the charging terminal is plugged into the charging interface of the drone, and a battery management system for detecting the power of the drone is set on the charging terminal. When the power of the drone is insufficient to perform the corresponding task, the charging terminal supplies power to charge the drone. The positioning module is an interrelated collection or device (component) formed to determine the spatial position. This system can ensure that at any time, at least 4 satellites can be observed at any point on the earth at the same time to ensure that the satellite can collect the longitude, latitude and altitude of the observation point in order to achieve navigation, positioning, timing and other functions. This technology can be used to guide aircraft, ships, vehicles and individuals to arrive at the destination safely and accurately along the selected route on time. The sensor group is specifically set according to the use of the application environment, such as temperature sensor, humidity sensor, open fire sensor, image acquisition module, obstacle detection sensor, etc.

[0091] In this embodiment, the system includes a drone nest, an identification module, a positioning module, a sensor group and a server. The drone nest provides a safe parking and charging environment for the drone, ensuring that the drone can be well maintained and charged when not in use. The combination of the identification module and the positioning module enables the drone to obtain location information in real time and confirm whether the drone is in the nest through radio frequency identification technology. This precise identification and positioning capability helps to improve the safety of the drone. The architecture of at least four servers is adopted, and they are equidistantly set at the edge and center of the flight area, which enhances the reliability and redundancy of the system. Even if a server fails, other servers can continue to provide services to ensure the normal operation of the drone. The drone communicates with the nearest server to improve the communication quality. The sensor group can obtain the working condition information (such as temperature, humidity, obstacles, etc.) of the drone's environment in real time, providing important data support for the drone's flight decision. This real-time monitoring capability helps the drone to fly safely in a complex environment, and the flexible configuration of the sensor group enables the drone to meet the needs of different tasks, such as monitoring, rescue and environmental monitoring. In summary, the system significantly improves the work efficiency, safety and adaptability of drones through multiple functions such as efficient drone management, accurate identification and positioning, real-time environmental monitoring and intelligent charging management.

[0092] In an exemplary embodiment, another drone flight management method is provided, comprising:

[0093] Step 1: The regional flight server (corresponding to the server in the above embodiment) establishes a connection with the drone and obtains the status of the drone in real time. The status of the drone (corresponding to the status information in the above embodiment) includes whether the drone is in operation, the distance from the destination when in operation, the remaining power, the maintenance status, etc.

[0094] Step 2, when it is necessary to perform an inspection task, the regional flight server reviews the status of each drone and searches for a more suitable drone. A suitable drone (corresponding to the target drone in the above embodiment) is one with sufficient remaining power for the inspection task and equipped with corresponding equipment (e.g., if performing a fire-fighting task, the drone carries fire-fighting equipment, fire detection sensors, etc.). Then, a flight path within the flight area is formulated for the drone (corresponding to the original flight path information in the above embodiment). The flight path must avoid existing obstacles such as buildings and trees, and the flight path must be staggered with the flight paths of other drones that have been set to avoid collisions.

[0095] Step 3: Based on the established flight path, during the flight of the drone, temporary obstacles on the flight path are detected through sensors, and the drone avoids obstacles during the flight.

[0096] Step 4, uploading the temporary short flight path (corresponding to the temporary path information of the above embodiment) prepared for temporary obstacle avoidance to the regional flight server, and the regional flight server incorporates the short flight path into the overall flight path (corresponding to the actual flight path information of the above embodiment) to avoid path conflicts between other aircraft and the short flight path.

[0097] In this embodiment, in actual use, based on the coordinated use of multiple regional flight servers, the information between the drone and the regional flight server is ensured to be transmitted quickly and stably, avoiding the situation of large information transmission delays and improving the efficiency of interaction. The flight path of the drone is formulated based on the regional flight server, which can avoid existing flight paths and reduce the risk of collision as much as possible. On the basis of the above, the drone itself carries corresponding detection sensors, which can avoid some obstacles and reset a flight path (a small flight path) during the flight. Other drones can avoid the influence of this small flight path through information sharing. Based on operations such as automatic detection of electric energy, manual use can be reduced and efficiency can be improved.

[0098] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0099] Based on the same inventive concept, the embodiment of the present application also provides a drone flight management device for implementing the drone flight management method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more drone flight management device embodiments provided below can refer to the limitations of the drone flight management method above, and will not be repeated here.

[0100] In an exemplary embodiment, as shown in FIG5 , a UAV flight management device 500 is provided, comprising: a path sending module 502 , a path correction module 504 and a path integration module 506 , wherein:

[0101] The path sending module 502 is used to send the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, and avoid obstacles when temporary obstacles are detected, and send the temporary flight path information generated by temporary obstacle avoidance to the server.

[0102] The path correction module 504 is used to receive the temporary flight path information sent by the target UAV, and correct the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV.

[0103] The path integration module 506 is used to adjust the flight paths of other UAVs by avoiding the actual flight path information of the target UAV.

[0104] Furthermore, in one embodiment, the path sending module 502 is also used to obtain the status information and inspection task information of each drone in a predetermined drone flight area; the drone flight area is a closed-loop area; and the target drone is determined from each drone based on the status information and inspection task information.

[0105] Furthermore, in one embodiment, the path sending module 502 is also used to determine the task type and task destination included in the inspection task information; select candidate drones that match the task type from each drone based on the status information of each drone; and determine the target drone that is closest to the task destination based on the location information of the candidate drones.

[0106] Furthermore, in one embodiment, the path sending module 502 is also used to obtain the radio frequency identification tag corresponding to each drone in the predetermined drone flight area; and determine the status information of each drone according to the radio frequency identification tag corresponding to each drone and the location information sent by each drone.

[0107] Furthermore, in one embodiment, the path sending module 502 is also used to perform path planning according to the mission destination and the location information of the target UAV to obtain the original flight path information.

[0108] Each module in the above-mentioned UAV flight management device 500 can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0109] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG6. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the status information, original flight path information and temporary flight path information of the drone. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a drone flight management method is implemented.

[0110] Those skilled in the art will understand that the structure shown in FIG. 6 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0111] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0112] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0113] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0114] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0115] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0116] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for managing unmanned aerial vehicle flight, characterized in that: The method comprises: Sending the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, and avoid temporary obstacles when temporary obstacles are detected, and sending temporary flight path information generated by temporary obstacle avoidance to the server; Receiving the temporary flight path information sent by the target UAV, and correcting the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV; The flight paths of other UAVs are adjusted according to the actual flight path information of the target UAV.

2. The method according to claim 1, characterized in that Before sending the original flight path information to the target UAV, the method further includes: Obtaining status information and inspection task information of each drone in a predetermined drone flight area; the drone flight area is a closed-loop area; According to the state information and the inspection task information, a target drone is determined from each of the drones.

3. The method according to claim 2, characterized in that The step of determining a target drone from each of the drones according to the state information and the inspection task information includes: Determine the task type and task destination included in the inspection task information; According to the status information of each of the drones, a candidate drone matching the mission type is selected from the drones; According to the position information of the candidate UAVs, a target UAV closest to the mission destination is determined.

4. The method according to claim 2, characterized in that: The obtaining of status information of each drone within a predetermined drone flight area includes: Obtaining a radio frequency identification tag corresponding to each of the drones in the predetermined drone flight area; The status information of each drone is determined according to the radio frequency identification tag corresponding to each drone and the location information sent by each drone.

5. The method according to claim 3, characterized in that: Before sending the original flight path information to the target UAV, the method further includes: Path planning is performed according to the mission destination and the location information of the target UAV to obtain the original flight path information.

6. A UAV flight management device, characterized in that: The device comprises: A path sending module is used to send the original flight path information to the target UAV; the target UAV is used to fly according to the original flight path information, avoid temporary obstacles when temporary obstacles are detected, and send temporary flight path information generated by temporary obstacle avoidance to the server; A path correction module is used to receive the temporary flight path information sent by the target UAV, and correct the original flight path information according to the temporary flight path information to obtain the actual flight path information of the target UAV; The path integration module is used to adjust the flight paths of other UAVs by avoiding the actual flight path information of the target UAV.

7. A UAV flight management system, characterized in that: The system includes a drone nest, an identification module, a positioning module, a sensor group and a server, wherein the server is respectively connected to the identification module, the positioning module and the sensor group for communication: The drone nest is arranged in the flight area of ​​the drone, and is used to carry the drone and provide power for the drone; The identification module is disposed in the drone nest and is used to identify the radio frequency identification tag of the drone; The positioning module is arranged on the drone body and is used to obtain the position information of the drone in real time; The sensor group is arranged on the drone body and is used to obtain the working conditions of the environment in which the drone is located in real time; A server, configured to execute the method according to any one of claims 1 to 5.

8. The UAV flight management system according to claim 7, characterized in that: The number of the servers is at least four, at least three of the servers are equidistantly arranged at the edge of the flight area, one server is arranged at the center of the flight area, and any two of the servers are communicatively connected.

9. The UAV flight management system according to claim 8, characterized in that: The identification module and the positioning module determine a target server closest to the drone from all the servers according to the location information of the drone, and the identification module and the positioning module are in communication connection with the target server.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

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