Unmanned aircraft management end configuration method and system of cloud computer and medium

Abstract

The embodiment of the invention provides an unmanned aircraft management end configuration method and system for a cloud computer and a medium, and the method comprises the steps: obtaining the initial parameter information of a management end, and generating reset state information according to the initial parameter information of the management end; acquiring flight state information of the unmanned aerial vehicle; flight parameters of the unmanned aerial vehicle are calculated according to the flight state information of the unmanned aerial vehicle, the flight parameters of the unmanned aerial vehicle are compared with the reset state information, and configuration information is generated; adjusting the reset state information according to the configuration information, and generating unmanned aircraft flight management information; the flight management information of the unmanned aerial vehicle is transmitted to the cloud computer; by analyzing the flight state information of the unmanned aerial vehicle, the management end configuration is matched, so that the flight management end can control the flight state of the unmanned aerial vehicle in real time and dynamically adjust the flight parameters of the unmanned aerial vehicle, and the control precision of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle management terminal configuration, and more particularly, to a method, system, and medium for configuring an unmanned aerial vehicle management terminal of a cloud computer. Background Art

[0002] A cloud computer is an overall service solution that includes cloud resources, a transmission protocol, and a cloud terminal. Using an open cloud terminal through the transmission protocol, resources such as desktops, applications, and hardware are provided to users in a service mode of on-demand service and elastic allocation. Users can achieve single-machine multi-user without considering building complex IT. By controlling the flight of an unmanned aerial vehicle through a cloud computer, remote control of the unmanned aerial vehicle can be achieved. In the existing flight control process of unmanned aerial vehicles, precise control cannot be performed through the management terminal, resulting in low accuracy of state monitoring during the flight of unmanned aerial vehicles. And when a failure occurs in the management terminal, it is difficult to match according to the reset state to achieve quick reset. For the above problems, effective technical solutions are urgently needed. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, system, and medium for configuring an unmanned aerial vehicle management terminal of a cloud computer. By analyzing the flight state information of the unmanned aerial vehicle to match the management terminal configuration, the flight management terminal can control the flight state of the unmanned aerial vehicle in real time and dynamically adjust the flight parameters of the unmanned aerial vehicle, improving the control accuracy of the unmanned aerial vehicle.

[0004] The embodiments of this application also provide a method for configuring an unmanned aerial vehicle management terminal of a cloud computer, including:

[0005] Obtain the initial parameter information of the management terminal, and generate reset state information according to the initial parameters of the management terminal;

[0006] Obtain the flight state information of the unmanned aerial vehicle;

[0007] Calculate the flight parameters of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset state information, and generate configuration information;

[0008] Adjust the reset state information according to the configuration information to generate unmanned aerial vehicle flight management information;

[0009] Transmit the unmanned aerial vehicle flight management information to the cloud computer.

[0010] Optionally, in the method for configuring an unmanned aerial vehicle management terminal of a cloud computer described in the embodiments of this application, obtaining the initial parameter information of the management terminal and generating reset state information according to the initial parameters of the management terminal specifically includes:

[0011] Obtain the initial parameters of the management terminal, where the initial parameters of the management terminal include the initial setting parameters of the management terminal and the initial mode information of the management terminal;

[0012] Generate the initial state information of the management terminal according to the initial parameters of the management terminal;

[0013] Establish the alarm threshold of the management terminal according to the initial state information of the management terminal;

[0014] Generate the alarm method of the management terminal according to the alarm threshold of the management terminal;

[0015] Perform a reset reminder on the management terminal through the alarm method of the management terminal.

[0016] Optionally, in the method for configuring the unmanned aerial vehicle management terminal of the cloud computer described in the embodiments of the present application, after obtaining the initial parameter information of the management terminal and generating the reset state information according to the initial parameters of the management terminal, it further includes:

[0017] Obtain the management terminal interface information, and generate the interface distribution information according to the management terminal interface information;

[0018] Perform multi-region segmentation on the management terminal interface according to the interface distribution information to generate multiple functional areas;

[0019] Calculate the regional functions according to the interface distribution information, and screen and classify the interface distribution data into multiple functional areas according to the regional functions;

[0020] Obtain the status information of the functional areas, and establish the linkage information between different functional areas according to the status information of the functional areas;

[0021] Perform the linkage cooperation of different functional areas according to the linkage information to form functional linkage data.

[0022] Optionally, in the method for configuring the unmanned aerial vehicle management terminal of the cloud computer described in the embodiments of the present application, after obtaining the flight state information of the unmanned aerial vehicle, it further includes:

[0023] Obtain the flight state information of the unmanned aerial vehicle, extract the flight state characteristics of the unmanned aerial vehicle, perform vector calculation on the flight state characteristics of the unmanned aerial vehicle and the preset characteristics to obtain the flight vector angle;

[0024] Determine whether the flight vector angle is greater than or equal to the preset angle threshold;

[0025] If it is greater than or equal to, it is determined that the flight direction of the unmanned aerial vehicle is abnormal, and the flight direction of the unmanned aerial vehicle is corrected in the reverse direction according to the flight vector angle;

[0026] If it is less than, generate a flight trajectory of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display.

[0027] Optionally, in the method for configuring the management terminal of the unmanned aerial vehicle of the cloud computer described in the embodiments of the present application, if it is less than, generate a flight trajectory of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display, specifically:

[0028] Obtain the flight state information of the unmanned aerial vehicle, and input the flight state information of the unmanned aerial vehicle into the trajectory planning model;

[0029] Generate a flight trajectory of the unmanned aerial vehicle according to the trajectory planning model;

[0030] Calculate the similarity between the flight trajectory of the unmanned aerial vehicle and a preset trajectory to obtain a trajectory similarity;

[0031] Judge whether the trajectory similarity is less than a preset similarity threshold;

[0032] If it is less than, generate parameter adjustment information, and adjust the parameters of the trajectory planning model according to the parameter adjustment information;

[0033] If it is greater than or equal to, the unmanned aerial vehicle moves according to the flight trajectory, and the position information of the unmanned aerial vehicle is obtained in real time.

[0034] Optionally, in the method for configuring the management terminal of the unmanned aerial vehicle of the cloud computer described in the embodiments of the present application, adjust the reset state information according to the configuration information to generate flight management information of the unmanned aerial vehicle, specifically:

[0035] Obtain the configuration information, and generate a configuration instruction according to the configuration information;

[0036] Generate an adjustment strategy according to the configuration instruction, and generate configuration update information according to the adjustment strategy;

[0037] Synchronously update the reset state according to the configuration update information, and obtain an update result;

[0038] Judge the update result by comparing it with the preset configuration state information to obtain an update state deviation rate;

[0039] Judge whether the update state deviation rate is greater than or equal to a preset update state deviation rate threshold;

[0040] If it is greater than or equal to, generate feedback information, and correct the adjustment strategy according to the feedback information;

[0041] If it is less than, generate unmanned aerial vehicle management information and transmit the unmanned aerial vehicle management information to the cloud computer.

[0042] In a second aspect, an embodiment of the present application provides a configuration system for the unmanned aerial vehicle management terminal of a cloud computer. The system includes: a memory and a processor. The memory includes a program for the method of configuring the unmanned aerial vehicle management terminal of the cloud computer. When the program for the method of configuring the unmanned aerial vehicle management terminal of the cloud computer is executed by the processor, the following steps are implemented:

[0043] Obtain the initial parameter information of the management terminal and generate reset status information according to the initial parameters of the management terminal;

[0044] Obtain the flight status information of the unmanned aerial vehicle;

[0045] Calculate the flight parameters of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset status information, and generate configuration information;

[0046] Adjust the reset status information according to the configuration information to generate unmanned aerial vehicle flight management information;

[0047] Transmit the unmanned aerial vehicle flight management information to the cloud computer.

[0048] Optionally, in the configuration system for the unmanned aerial vehicle management terminal of the cloud computer described in the embodiment of the present application, obtaining the initial parameter information of the management terminal and generating reset status information according to the initial parameters of the management terminal specifically includes:

[0049] Obtain the initial parameters of the management terminal. The initial parameters of the management terminal include the initial setting parameters of the management terminal and the initial mode information of the management terminal;

[0050] Generate the initial status information of the management terminal according to the initial parameters of the management terminal;

[0051] Establish an alarm threshold for the management terminal according to the initial status information of the management terminal;

[0052] Generate an alarm method for the management terminal according to the alarm threshold of the management terminal;

[0053] Perform a reset reminder on the management terminal through the alarm method of the management terminal.

[0054] Optionally, in the configuration system for the unmanned aerial vehicle management terminal of the cloud computer described in the embodiment of the present application, obtaining the initial parameter information of the management terminal and generating reset status information according to the initial parameters of the management terminal further includes:

[0055] Obtain the management terminal interface information and generate interface distribution information according to the management terminal interface information;

[0056] The management - side interface is segmented into multiple regions according to the interface distribution information to generate multiple functional areas;

[0057] Calculate the regional functions according to the interface distribution information, and filter and classify the interface distribution data into multiple functional areas according to the regional functions;

[0058] Obtain the status information of the functional areas, and establish the linkage information between different functional areas according to the status information of the functional areas;

[0059] Carry out the linkage cooperation of different functional areas according to the linkage information to form functional linkage data.

[0060] In a third aspect, an embodiment of the present application also provides a computer - readable storage medium, which includes a program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer. When the program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer is executed by a processor, the steps of the configuration method of the unmanned aerial vehicle management terminal of the cloud computer as described in any one of the above are implemented.

[0061] As can be seen from the above, a configuration method, system and medium for the unmanned aerial vehicle management terminal of a cloud computer provided by an embodiment of the present application obtain the initial parameter information of the management terminal, generate reset state information according to the initial parameters of the management terminal; obtain the flight state information of the unmanned aerial vehicle; calculate the flight parameters of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset state information to generate configuration information; adjust the reset state information according to the configuration information to generate unmanned aerial vehicle flight management information; transmit the unmanned aerial vehicle flight management information to the cloud computer; match the management - side configuration by analyzing the flight state information of the unmanned aerial vehicle, so that the flight management terminal can control the flight state of the unmanned aerial vehicle in real time and dynamically adjust the flight parameters of the unmanned aerial vehicle, improving the control accuracy of the unmanned aerial vehicle.

[0062] Other features and advantages of the present application will be described in the subsequent description. The objectives and advantages of the present application are achieved and obtained through the structures specifically pointed out in the written description, claims and drawings. Brief Description of the Drawings

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1Flowchart of the method for configuring the unmanned aerial vehicle management terminal of the cloud computer provided by the embodiment of the present application;

[0065] Figure 2 Management terminal reset flowchart of the method for configuring the unmanned aerial vehicle management terminal of the cloud computer provided by the embodiment of the present application;

[0066] Figure 3 Functional area linkage method flowchart of the method for configuring the unmanned aerial vehicle management terminal of the cloud computer provided by the embodiment of the present application;

[0067] Figure 4 Structural schematic diagram of the unmanned aerial vehicle management terminal configuration system of the cloud computer provided by the embodiment of the present application. Detailed implementation manners

[0068] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and illustrated here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0069] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0070] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for configuring the unmanned aerial vehicle management terminal of a cloud computer in some embodiments of the present application. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer is used in a terminal device. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer includes the following steps:

[0071] S101, obtain the initial parameter information of the management terminal, and generate reset status information according to the initial parameter of the management terminal;

[0072] S102, obtain the flight status information of the unmanned aerial vehicle;

[0073] S103. Calculate the flight parameters of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset status information, and generate configuration information;

[0074] S104. Adjust the reset status information according to the configuration information to generate the flight management information of the unmanned aerial vehicle;

[0075] S105. Transmit the flight management information of the unmanned aerial vehicle to the cloud computer.

[0076] It should be noted that obtaining the initial parameter information of the management end includes hardware configuration, software settings, and preset operation modes; among them, the hardware configuration includes CPU, memory, etc., the software settings include control algorithm versions, communication protocol parameters, etc., and the operation modes include manual mode, automatic mode, etc. The reset status information is generated by parsing the initial parameters; among them, the reset status information includes default control strategies, safety thresholds, etc. Through the real-time communication link between the cloud terminal and the unmanned aerial vehicle, obtain the flight status information of the unmanned aerial vehicle, including sensor data such as GPS coordinates, flight speed, attitude angle, battery power, etc. Input the flight status data into the preset control model to calculate the target flight parameters, including expected speed, flight direction, etc. Compare the calculation results with the standard parameters in the reset status to generate a difference matrix as the configuration information. If the API interface encrypts and pushes the management information to the flight control system of the unmanned aerial vehicle to ensure that the low difference exceeds the preset threshold, then trigger the dynamic adjustment logic, such as updating the control parameters through the interpolation algorithm to generate the flight management information of the unmanned aerial vehicle containing correction instructions. Through the delayed transmission of the cloud computer.

[0077] Please refer to Figure 2 , Figure 2 is the management end reset flowchart of a method for configuring the management end of an unmanned aerial vehicle by a cloud computer in some embodiments of the present application. According to an embodiment of the present invention, obtain the initial parameter information of the management end, and generate the reset status information according to the initial parameter of the management end, specifically including:

[0078] S201. Obtain the initial parameters of the management end, and the initial parameters of the management end include the initial setting parameters of the management end and the initial mode information of the management end;

[0079] S202. Generate the initial status information of the management end according to the initial parameters of the management end;

[0080] S203. Establish the alarm threshold of the management end according to the initial status information of the management end;

[0081] S204. Generate the alarm method of the management end according to the alarm threshold of the management end;

[0082] S205. Give a reset reminder to the management end through the alarm method of the management end.

[0083] It should be noted that the initial mode information includes, but is not limited to, emergency mode, normal mode, etc. Map the initial parameters to a state vector to generate initial state information. Based on historical fault data and initial state information, dynamically set the alarm threshold. The alarm methods include multi-level responses: level 1 alarm, such as an interface pop-up window; level 2 alarm, such as SMS notification; level 3 alarm, such as a forced reset instruction. When the load on the management end exceeds the threshold, trigger an alarm and automatically execute the reset script to ensure a quick recovery of the control link.

[0084] Please refer to Figure 3 , Figure 3 is a flowchart of the functional area linkage method for the configuration method of the management end of an unmanned aerial vehicle of a cloud computer in some embodiments of the present application. According to the embodiments of the present invention, obtaining the initial parameter information of the management end and generating the reset state information based on the initial parameters of the management end further includes:

[0085] S301, obtaining the management end interface information and generating the interface distribution information according to the management end interface information;

[0086] S302, dividing the management end interface into multiple regions according to the interface distribution information to generate multiple functional areas;

[0087] S303, calculating the regional functions according to the interface distribution information, and screening and classifying the interface distribution data into multiple functional areas according to the regional functions;

[0088] S304, obtaining the state information of the functional areas and establishing the linkage information between different functional areas according to the state information of the functional areas;

[0089] S305, performing linkage cooperation between different functional areas according to the linkage information to form functional linkage data.

[0090] It should be noted that parse the management end interface layout file, such as XML or JSON; extract the control types and position coordinates in the UI interface to generate the interface distribution topology diagram. Based on the types of control functions, such as navigation control, sensor monitoring, divide the interface into multiple functional areas, such as the flight control area, data monitoring area. Classify based on the labels of the controls in the interface. For example, classify the "heading calibration control" into the navigation function area. Then, monitor the status of the functional areas in real time, such as the sensor data update frequency in the data monitoring area; establish linkage rules based on the status of the functional areas, such as locking the operation of the route planning area when the battery power is less than 20%.

[0091] According to the embodiments of the present invention, after obtaining the flight state information of the unmanned aerial vehicle, it further includes:

[0092] Obtain the flight status information of the unmanned aerial vehicle, extract the flight status characteristics of the unmanned aerial vehicle, perform vector calculation on the flight status characteristics of the unmanned aerial vehicle and the preset characteristics to obtain the flight vector angle;

[0093] Judge whether the flight vector angle is greater than or equal to the preset angle threshold;

[0094] If it is greater than or equal to, it is determined that the flight direction of the unmanned aerial vehicle is abnormal, and the flight direction of the unmanned aerial vehicle is corrected in the reverse direction according to the flight vector angle;

[0095] If it is less than, generate the flight trajectory of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display.

[0096] It should be noted that in this embodiment, the flight vector angle is the included angle between the actual heading of the unmanned aerial vehicle and the preset heading. Based on the yaw angle and pitch angle in the flight status information, a heading vector is constructed, and then according to the vector included angle calculation rule, the flight vector angle is obtained. When the flight vector angle is greater than or equal to the preset angle threshold, reverse correction is triggered, a correction instruction is generated and sent to the unmanned aerial vehicle, and the rotation speed of the motor is adjusted through a PID controller to make the heading deviation return within the threshold. When the flight vector angle is less than the preset angle threshold, the corrected trajectory is pushed to the map module of the management terminal for visualization.

[0097] According to the embodiment of the present invention, if it is less than, generate the flight trajectory of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display, specifically:

[0098] Obtain the flight status information of the unmanned aerial vehicle, and input the flight status information of the unmanned aerial vehicle into the trajectory planning model;

[0099] Generate the flight trajectory of the unmanned aerial vehicle according to the trajectory planning model;

[0100] Perform similarity calculation on the flight trajectory of the unmanned aerial vehicle and the preset trajectory to obtain the trajectory similarity;

[0101] Judge whether the trajectory similarity is less than the preset similarity threshold;

[0102] If it is less than, generate parameter adjustment information, and adjust the parameters of the trajectory planning model according to the parameter adjustment information;

[0103] If it is greater than or equal to, the unmanned aerial vehicle moves according to the flight trajectory, and the position information of the unmanned aerial vehicle is obtained in real time.

[0104] It should be noted that information such as GPS coordinate sequences and flight target positions is input into the trajectory planning model, and the model generates the flight trajectory of the unmanned aerial vehicle. The coordinate sequence distance between the actual trajectory and the preset trajectory is calculated using a preset trajectory comparison algorithm to obtain the trajectory similarity. If the similarity is less than the preset threshold, the weight parameters of the model are adjusted and the path is replanned; otherwise, the position of the unmanned aerial vehicle is continuously monitored to ensure that the unmanned aerial vehicle can fly along the predetermined trajectory.

[0105] According to an embodiment of the present invention, the reset state information is adjusted according to the configuration information to generate unmanned aerial vehicle flight management information, specifically:

[0106] Obtain the configuration information and generate a configuration instruction according to the configuration information;

[0107] Generate an adjustment strategy according to the configuration instruction and generate configuration update information according to the adjustment strategy;

[0108] Synchronously update the reset state according to the configuration update information and obtain the update result;

[0109] Compare the update result with the preset configuration state information to obtain the update state deviation rate;

[0110] Determine whether the update state deviation rate is greater than or equal to the preset update state deviation rate threshold;

[0111] If it is greater than or equal to, generate feedback information and correct the adjustment strategy according to the feedback information;

[0112] If it is less than, generate unmanned aerial vehicle management information and transmit the unmanned aerial vehicle management information to the cloud computer.

[0113] It should be noted that according to the deviation analysis result, a parameter adjustment instruction is generated to determine the adjustment strategy, such as increasing the integral weight value of the PID control. Based on the adjustment strategy, configuration update information including a parameter adjustment instruction data packet is generated. Then, the adjustment strategy is optimized using the gradient descent method, and the new parameters are written into the configuration register of the management end, that is, the synchronous update is realized to ensure that the control parameters of the management end can accurately control the flight state of the unmanned aerial vehicle. Calculate the difference between the updated parameter and the target value to obtain the update state deviation rate; if the update state deviation rate is greater than or equal to the preset update state deviation rate threshold, it is corrected based on feedback information, such as the expert correction value; otherwise, it is uploaded to the configuration center of the cloud computer through an encrypted channel.

[0114] According to an embodiment of the present invention, if it is less than, after the unmanned aerial vehicle moves according to the flight trajectory and real-time obtains the position information of the unmanned aerial vehicle, it further includes:

[0115] Obtain the position information of the unmanned aerial vehicle, and generate the preset position information of the unmanned aerial vehicle according to the flight trajectory of the unmanned aerial vehicle;

[0116] Compare the position information of the unmanned aerial vehicle with the preset position information to obtain the position deviation rate;

[0117] Judge whether the position deviation rate is greater than or equal to the preset position deviation rate threshold;

[0118] If it is greater than or equal to, it is determined that the flight of the unmanned aerial vehicle is abnormal, generate correction information according to the position deviation of the unmanned aerial vehicle, and adjust the flight parameters of the unmanned aerial vehicle according to the correction information;

[0119] If it is less than, the position information of the unmanned aerial vehicle is transmitted to the cloud computer in real time.

[0120] It should be noted that the position deviation rate is the percentage of the Euclidean distance between the actual coordinates and the preset coordinates of the unmanned aerial vehicle in the total length of the preset trajectory; the centroid reference is to establish a local coordinate system with the centroid of the unmanned aerial vehicle as the origin for high-precision position calibration. By dynamically judging the position of the unmanned aerial vehicle, the centroid of the unmanned aerial vehicle is obtained during the flight of the unmanned aerial vehicle, and the centroid is used as the reference for the position judgment of the unmanned aerial vehicle to obtain the coordinates of the position information of the unmanned aerial vehicle and the coordinates of the preset position information. According to the Euclidean distance between the actual coordinates and the preset coordinates, the position deviation rate is obtained. If the position deviation rate is greater than or equal to the preset position deviation rate threshold, the emergency braking protocol is activated, and at the same time, the motor thrust vector is adjusted to compensate for the position offset; otherwise, the corrected coordinate data is pushed to the cloud computer in real time through the preset protocol.

[0121] It also includes:

[0122] Obtain real-time environmental data;

[0123] Input the environmental data into the risk assessment model to generate the flight risk level;

[0124] Dynamically adjust the alarm threshold and the upper limit of flight parameters according to the risk level.

[0125] It should be noted that the flight environment parameters collected in real time by the sensor, including the obstacle point cloud of the lidar, the vector data of the wind speed sensor, and the thermal distribution map of the temperature sensor, are based on the risk assessment model to output the risk level. Then, according to the risk assessment level, the updated parameters are sent to the flight control system of the unmanned aerial vehicle through the configuration management service of the cloud computer to ensure real-time effectiveness.

[0126] It also includes:

[0127] Applied to the collaborative scenario of multiple unmanned aerial vehicles;

[0128] Establish a master-slave control relationship according to the flight mission;

[0129] The main unmanned aerial vehicle plans and generates a global path, and the slave unmanned aerial vehicle calculates a local path according to the similarity;

[0130] Send the global path and the local path to the cloud computer to detect conflicts and feedback avoidance operations.

[0131] It should be noted that when applied to the collaborative scenario of unmanned aerial vehicles, first determine a main unmanned aerial vehicle and several slave unmanned aerial vehicles according to the flight mission. The main unmanned aerial vehicle maintains leadership through a heartbeat mechanism. The trajectory planning model of the main unmanned aerial vehicle generates a global path, and the slave unmanned aerial vehicle calculates a local path according to the similarity. The cloud computer analyzes the path to detect whether there are path conflicts and their risks, and then generates and feedbacks avoidance operations based on the risk level. After the avoidance operation is completed, the slave unmanned aerial vehicle uploads the corrected local path to the cloud computer, and the main unmanned aerial vehicle updates the global path library to ensure multi-aircraft collaboration consistency.

[0132] Please refer to Figure 4 , Figure 4 is a schematic structural diagram of a configuration system for the management terminal of an unmanned aerial vehicle of a cloud computer in some embodiments of the present application. In a second aspect, an embodiment of the present application provides a configuration system 4 for the management terminal of an unmanned aerial vehicle of a cloud computer. The system includes: a memory 41 and a processor 42. The memory 41 includes a program for the configuration method of the management terminal of the unmanned aerial vehicle of the cloud computer. When the program for the configuration method of the management terminal of the unmanned aerial vehicle of the cloud computer is executed by the processor, the following steps are implemented:

[0133] Obtain the initial parameter information of the management terminal and generate reset state information according to the initial parameter of the management terminal;

[0134] Obtain the flight state information of the unmanned aerial vehicle;

[0135] Calculate the flight parameters of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset state information, and generate configuration information;

[0136] Adjust the reset state information according to the configuration information to generate flight management information of the unmanned aerial vehicle;

[0137] Transmit the flight management information of the unmanned aerial vehicle to the cloud computer.

[0138] It should be noted that the initial parameter information of the management terminal is obtained, including hardware configuration, software settings, and preset operation modes. Among them, the hardware configuration includes the CPU, memory, etc., the software settings include the control algorithm version, communication protocol parameters, etc., and the operation modes include manual mode, automatic mode, etc. The reset status information is generated by parsing the initial parameters. Among them, the reset status information includes default control strategies, safety thresholds, etc. Through the real-time communication link between the cloud terminal and the unmanned aerial vehicle, the flight status information of the unmanned aerial vehicle is obtained, including sensor data such as GPS coordinates, flight speed, attitude angle, battery power, etc. The flight status data is input into the preset control model to calculate the target flight parameters, including expected speed, flight direction, etc. The calculation results are compared with the standard parameters in the reset status to generate a difference matrix as the configuration information. If the API interface encrypts and pushes the management information to the flight control system of the unmanned aerial vehicle, and ensures that the low difference exceeds the preset threshold, the dynamic adjustment logic is triggered, such as updating the control parameters through the interpolation algorithm, to generate the flight management information of the unmanned aerial vehicle containing correction instructions. Through the delayed transmission of the cloud computer.

[0139] According to an embodiment of the present invention, the initial parameter information of the management terminal is obtained, and the reset status information is generated according to the initial parameters of the management terminal, specifically including:

[0140] Obtain the initial parameters of the management terminal, and the initial parameters of the management terminal include the initial setting parameters of the management terminal and the initial mode information of the management terminal;

[0141] Generate the initial state information of the management terminal according to the initial parameters of the management terminal;

[0142] Establish the alarm threshold of the management terminal according to the initial state information of the management terminal;

[0143] Generate the alarm method of the management terminal according to the alarm threshold of the management terminal;

[0144] Perform a reset reminder on the management terminal through the alarm method of the management terminal.

[0145] It should be noted that the initial mode information includes, but is not limited to, emergency mode, normal mode, etc. Map the initial parameters to a state vector to generate the initial state information. Dynamically set the alarm threshold based on historical fault data and the initial state information. The alarm method includes multi-level responses: the first-level alarm, such as a pop-up window on the interface; the second-level alarm, such as a text message notification; the third-level alarm, such as a forced reset instruction. When the load of the management terminal exceeds the threshold, an alarm is triggered and the reset script is automatically executed to ensure a quick recovery of the control link.

[0146] According to an embodiment of the present invention, the initial parameter information of the management terminal is obtained, and the reset status information is generated according to the initial parameters of the management terminal, further including:

[0147] Obtain the information of the management terminal interface, and generate interface distribution information according to the information of the management terminal interface;

[0148] According to the interface distribution information, divide the management terminal interface into multiple regions to generate multiple functional areas;

[0149] Calculate the regional functions according to the interface distribution information, and screen and classify the interface distribution data into multiple functional areas according to the regional functions;

[0150] Obtain the status information of the functional areas, and establish linkage information between different functional areas according to the status information of the functional areas;

[0151] Carry out the linkage cooperation of different functional areas according to the linkage information to form functional linkage data.

[0152] It should be noted that the management terminal interface layout file is parsed, such as XML or JSON; the control types and position coordinates in the UI interface are extracted to generate an interface distribution topology map. Based on the types of control functions, such as navigation control and sensor monitoring, the interface is divided into multiple functional areas, such as a flight control area and a data monitoring area. Classification is carried out based on the labels of the controls in the interface. For example, the "heading calibration control" is classified into the navigation function area. Then, the status of the functional area is monitored in real time, such as the update frequency of sensor data in the data monitoring area; linkage rules are established based on the status of the functional area, such as locking the operation of the route planning area when the battery power is lower than 20%.

[0153] According to the embodiment of the present invention, after obtaining the flight state information of the unmanned aerial vehicle, it further includes:

[0154] Obtain the flight state information of the unmanned aerial vehicle, extract the flight state characteristics of the unmanned aerial vehicle, perform vector calculation on the flight state characteristics of the unmanned aerial vehicle and the preset characteristics to obtain a flight vector angle;

[0155] Determine whether the flight vector angle is greater than or equal to a preset angle threshold;

[0156] If it is greater than or equal to, it is determined that the flight direction of the unmanned aerial vehicle is abnormal, and the flight direction of the unmanned aerial vehicle is corrected in the reverse direction according to the flight vector angle;

[0157] If it is less than, generate a flight trajectory of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display.

[0158] It should be noted that in this embodiment, the flight vector angle is the angle between the actual heading of the unmanned aerial vehicle and the preset heading. Based on the yaw angle and pitch angle in the flight state information, a heading vector is constructed, and then according to the vector angle calculation rule, the flight vector angle is obtained. When the flight vector angle is greater than or equal to the preset angle threshold, reverse correction is triggered, a correction instruction is generated and sent to the unmanned aerial vehicle, and the motor rotation speed is adjusted through a PID controller to make the heading deviation return within the threshold. When the flight vector angle is less than the preset angle threshold, the corrected trajectory is pushed to the map module of the management terminal for visualization.

[0159] According to an embodiment of the present invention, if it is less, the flight trajectory of the unmanned aerial vehicle is generated according to the flight state information of the unmanned aerial vehicle, and the flight trajectory of the unmanned aerial vehicle is transmitted to the management terminal for dynamic display, specifically:

[0160] Obtain the flight state information of the unmanned aerial vehicle, and input the flight state information of the unmanned aerial vehicle into the trajectory planning model;

[0161] Generate the flight trajectory of the unmanned aerial vehicle according to the trajectory planning model;

[0162] Calculate the similarity between the flight trajectory of the unmanned aerial vehicle and the preset trajectory to obtain the trajectory similarity;

[0163] Judge whether the trajectory similarity is less than the preset similarity threshold;

[0164] If it is less, generate parameter adjustment information, and adjust the parameters of the trajectory planning model according to the parameter adjustment information;

[0165] If it is greater than or equal to, the unmanned aerial vehicle moves according to the flight trajectory and obtains the position information of the unmanned aerial vehicle in real time.

[0166] It should be noted that information such as the GPS coordinate sequence and the flight target position is input into the trajectory planning model, and the model generates the flight trajectory of the unmanned aerial vehicle. The preset trajectory comparison algorithm is used to calculate the coordinate sequence distance between the actual trajectory and the preset trajectory to obtain the trajectory similarity. If the similarity is less than the preset threshold, the weight parameters of the model are adjusted and the path is replanned; otherwise, the position of the unmanned aerial vehicle is continuously monitored; ensuring that the unmanned aerial vehicle can fly along the predetermined trajectory.

[0167] According to an embodiment of the present invention, the reset state information is adjusted according to the configuration information to generate the flight management information of the unmanned aerial vehicle, specifically:

[0168] Obtain the configuration information, and generate a configuration instruction according to the configuration information;

[0169] Generate an adjustment strategy according to the configuration instruction, and generate configuration update information according to the adjustment strategy;

[0170] Synchronously update the reset state according to the configuration update information, and obtain the update result;

[0171] Compare the update result with the preset configuration status information to obtain the update status deviation rate;

[0172] Determine whether the update status deviation rate is greater than or equal to the preset update status deviation rate threshold;

[0173] If it is greater than or equal to, generate feedback information and correct the adjustment strategy according to the feedback information;

[0174] If it is less than, generate unmanned aerial vehicle management information and transmit the unmanned aerial vehicle management information to the cloud computer.

[0175] It should be noted that according to the deviation analysis result, a parameter adjustment instruction is generated to determine the adjustment strategy, such as increasing the integral weight of the PID control. Based on the adjustment strategy, configuration update information including a parameter adjustment instruction data packet is generated. Then, the gradient descent method is used to optimize the adjustment strategy, and the new parameters are written into the configuration register of the management end, that is, the synchronous update is realized, ensuring that the control parameters of the management end can accurately control the flight state of the unmanned aerial vehicle. Calculate the difference between the updated parameter and the target value to obtain the update status deviation rate; if the update status deviation rate is greater than or equal to the preset update status deviation rate threshold, correct it based on the feedback information, such as the expert correction value; otherwise, upload it to the configuration center of the cloud computer through an encrypted channel.

[0176] According to an embodiment of the present invention, if it is less than, after the unmanned aerial vehicle moves according to the flight trajectory and the position information of the unmanned aerial vehicle is obtained in real time, it further includes:

[0177] Obtain the position information of the unmanned aerial vehicle, and generate the preset position information of the unmanned aerial vehicle according to the flight trajectory of the unmanned aerial vehicle;

[0178] Compare the position information of the unmanned aerial vehicle with the preset position information to obtain the position deviation rate;

[0179] Determine whether the position deviation rate is greater than or equal to the preset position deviation rate threshold;

[0180] If it is greater than or equal to, it is determined that the flight of the unmanned aerial vehicle is abnormal, generate correction information according to the position deviation of the unmanned aerial vehicle, and adjust the flight parameters of the unmanned aerial vehicle according to the correction information;

[0181] If it is less than, the position information of the unmanned aerial vehicle is transmitted to the cloud computer in real time.

[0182] It should be noted that the position deviation rate is the percentage of the Euclidean distance between the actual coordinates and the preset coordinates of the unmanned aerial vehicle (UAV) in the total length of the preset trajectory; the centroid reference is to establish a local coordinate system with the centroid of the UAV as the origin for high-precision position calibration. By dynamically judging the position of the UAV, the centroid of the UAV is obtained during flight, and the centroid is used as the reference for UAV position judgment to obtain the coordinates of the UAV position information and the coordinates of the preset position information. According to the Euclidean distance between the actual coordinates and the preset coordinates, the position deviation rate is obtained. If the position deviation rate is greater than or equal to the preset position deviation rate threshold, the emergency braking protocol is activated, and at the same time, the motor thrust vector is adjusted to compensate for the position offset; otherwise, the corrected coordinate data is pushed to the cloud computer in real time through the preset protocol.

[0183] It also includes:

[0184] Obtain real-time environmental data;

[0185] Input the environmental data into the risk assessment model to generate a flight risk level;

[0186] Dynamically adjust the alarm threshold and the upper limit of flight parameters according to the risk level.

[0187] It should be noted that the flight environment parameters collected in real time by sensors, including the obstacle point cloud of the lidar, the vector data of the wind speed sensor, and the thermal distribution map of the temperature sensor, are used to output the risk level based on the risk assessment model. Then, according to the risk assessment level, the updated parameters are sent to the UAV flight control system through the configuration management service of the cloud computer to ensure real-time effectiveness.

[0188] It also includes:

[0189] Applied to the multi-UAV cooperative scenario;

[0190] Establish a master-slave control relationship according to the flight mission;

[0191] The master UAV plans and generates a global path, and the slave UAV calculates a local path according to the similarity;

[0192] Send the global path and the local path to the cloud computer to detect conflicts and feedback avoidance operations.

[0193] It should be noted that when applied to the collaborative scenario of unmanned aerial vehicles, first, a main unmanned aerial vehicle and several sub-unmanned aerial vehicles are determined according to the flight mission. The main unmanned aerial vehicle maintains leadership through a heartbeat mechanism. The main unmanned aerial vehicle trajectory planning model generates a global path, and the sub-unmanned aerial vehicles calculate local paths according to similarity. The cloud computer analyzes the paths to detect whether there are path conflicts and their risks, and then generates and feedback avoidance operations based on the risk level. After the avoidance operation is completed, the sub-unmanned aerial vehicles upload the corrected local paths to the cloud computer, and the main unmanned aerial vehicle updates the global path library to ensure multi-aircraft collaborative consistency.

[0194] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for configuring the unmanned aerial vehicle management terminal of the cloud computer. When the program for configuring the unmanned aerial vehicle management terminal of the cloud computer is executed by a processor, the steps of the method for configuring the unmanned aerial vehicle management terminal of the cloud computer as described in any one of the above are implemented.

[0195] A method, system and medium for configuring the unmanned aerial vehicle management terminal of a cloud computer disclosed in the present invention obtain initial parameter information of the management terminal, generate reset state information according to the initial parameter of the management terminal; obtain flight state information of the unmanned aerial vehicle; calculate flight parameters of the unmanned aerial vehicle according to the flight state information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset state information, and generate configuration information; adjust the reset state information according to the configuration information to generate flight management information of the unmanned aerial vehicle; transmit the flight management information of the unmanned aerial vehicle to the cloud computer; match the configuration of the management terminal by analyzing the flight state information of the unmanned aerial vehicle, so that the flight management terminal can control the flight state of the unmanned aerial vehicle in real time and dynamically adjust the flight parameters of the unmanned aerial vehicle, improving the control accuracy of the unmanned aerial vehicle.

[0196] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0197] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0198] In addition, each functional unit in the embodiments of the present invention may be fully integrated into one processing unit, or each unit may be separately regarded as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0199] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical discs and other various media that can store program codes.

[0200] Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the foregoing storage medium includes: removable storage devices, ROM, RAM, magnetic disks or optical discs and other various media that can store program codes.

Claims

1. A configuration method for the management terminal of an unmanned aerial vehicle of a cloud computer, characterized in that, Including: Obtain the initial parameter information of the management terminal, and generate reset status information according to the initial parameters of the management terminal; Obtain the flight status information of the unmanned aerial vehicle; Calculate the flight parameters of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset status information, and generate configuration information; Adjust the reset status information according to the configuration information to generate flight management information of the unmanned aerial vehicle; Transmit the flight management information of the unmanned aerial vehicle to the cloud computer.

2. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer according to claim 1, wherein, Obtain the initial parameter information of the management terminal, and generate reset status information according to the initial parameters of the management terminal, specifically including: Obtain the initial parameters of the management terminal, and the initial parameters of the management terminal include the initial setting parameters of the management terminal and the initial mode information of the management terminal; Generate the initial status information of the management terminal according to the initial parameters of the management terminal; Establish the alarm threshold of the management terminal according to the initial status information of the management terminal; Generate the alarm method of the management terminal according to the alarm threshold of the management terminal; Give a reset reminder to the management terminal through the alarm method of the management terminal.

3. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer according to claim 2, wherein, Obtain the initial parameter information of the management terminal, and generate reset status information according to the initial parameters of the management terminal, and also include: Obtain the interface information of the management terminal, and generate interface distribution information according to the interface information of the management terminal; Perform multi-region segmentation on the management terminal interface according to the interface distribution information to generate multiple functional areas; Calculate the regional functions according to the interface distribution information, and screen and classify the interface distribution data into multiple functional areas according to the regional functions; Obtain the status information of the functional area, and establish the linkage information between different functional areas according to the status information of the functional area; Perform the linkage cooperation of different functional areas according to the linkage information to form functional linkage data.

4. The method for configuring the unmanned aerial vehicle management terminal of a cloud computer according to claim 3, characterized in that, After obtaining the flight status information of the unmanned aerial vehicle, it also includes: Obtain the flight status information of the unmanned aerial vehicle, extract the flight status characteristics of the unmanned aerial vehicle, perform vector calculation on the flight status characteristics of the unmanned aerial vehicle and the preset characteristics to obtain the flight vector angle; Judge whether the flight vector angle is greater than or equal to the preset angle threshold; If it is greater than or equal to, it is determined that the flight direction of the unmanned aerial vehicle is abnormal, and the flight direction of the unmanned aerial vehicle is corrected in the reverse direction according to the flight vector angle; If it is less than, generate the flight trajectory of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display.

5. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer according to claim 4, characterized in that, If it is less than, generate the flight trajectory of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, and transmit the flight trajectory of the unmanned aerial vehicle to the management terminal for dynamic display, specifically: Obtain the flight status information of the unmanned aerial vehicle, and input the flight status information of the unmanned aerial vehicle into the trajectory planning model; Generate the flight trajectory of the unmanned aerial vehicle according to the trajectory planning model; Perform similarity calculation on the flight trajectory of the unmanned aerial vehicle and the preset trajectory to obtain the trajectory similarity; Judge whether the trajectory similarity is less than the preset similarity threshold; If it is less than, generate parameter adjustment information, and adjust the parameters of the trajectory planning model according to the parameter adjustment information; If it is greater than or equal to, the unmanned aerial vehicle moves according to the flight trajectory, and the position information of the unmanned aerial vehicle is obtained in real time.

6. The method for configuring the unmanned aerial vehicle management terminal of the cloud computer according to claim 5, characterized in that, Adjust the reset status information according to the configuration information to generate unmanned aerial vehicle flight management information, specifically as follows: Obtain the configuration information and generate a configuration instruction according to the configuration information; Generate an adjustment strategy according to the configuration instruction and generate configuration update information according to the adjustment strategy; Synchronously update the reset status according to the configuration update information and obtain the update result; Judge the update result by comparing it with the preset configuration status information to obtain the update status deviation rate; Judge whether the update status deviation rate is greater than or equal to the preset update status deviation rate threshold; If it is greater than or equal to, generate feedback information and correct the adjustment strategy according to the feedback information; If it is less than, generate unmanned aerial vehicle management information and transmit the unmanned aerial vehicle management information to the cloud computer.

7. A configuration system for the management terminal of an unmanned aerial vehicle of a cloud computer, characterized in that, The system includes: a memory and a processor. The memory includes a program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer. When the program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer is executed by the processor, the following steps are implemented: Obtain the initial parameter information of the management terminal and generate reset status information according to the initial parameters of the management terminal; Obtain the flight status information of the unmanned aerial vehicle; Calculate the flight parameters of the unmanned aerial vehicle according to the flight status information of the unmanned aerial vehicle, compare the flight parameters of the unmanned aerial vehicle with the reset status information, and generate configuration information; Adjust the reset status information according to the configuration information to generate unmanned aerial vehicle flight management information; Transmit the unmanned aerial vehicle flight management information to the cloud computer.

8. The unmanned aerial vehicle management terminal configuration system of the cloud computer according to claim 7, characterized in that, Obtain the initial parameter information of the management terminal and generate reset status information according to the initial parameters of the management terminal, specifically including: Obtain the initial parameters of the management terminal. The initial parameters of the management terminal include the initial setting parameters of the management terminal and the initial mode information of the management terminal; Generate the initial status information of the management terminal according to the initial parameters of the management terminal; Establish an alarm threshold for the management terminal according to the initial status information of the management terminal; Generate an alarm method for the management terminal according to the alarm threshold of the management terminal; Give a reset reminder to the management terminal through the alarm method of the management terminal.

9. The configuration system for the unmanned aerial vehicle management terminal of the cloud computer according to claim 8, characterized in that, Obtain the initial parameter information of the management terminal and generate reset status information according to the initial parameters of the management terminal, and further include: Obtain the interface information of the management terminal and generate interface distribution information according to the interface information of the management terminal; Divide the management terminal interface into multiple regions according to the interface distribution information to generate multiple functional areas; Calculate the regional functions according to the interface distribution information, and screen and classify the interface distribution data into multiple functional areas according to the regional functions; Obtain the status information of the functional areas and establish linkage information between different functional areas according to the status information of the functional areas; Perform linkage cooperation between different functional areas according to the linkage information to form functional linkage data.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer. When the program for the configuration method of the unmanned aerial vehicle management terminal of the cloud computer is executed by the processor, the steps of the configuration method of the unmanned aerial vehicle management terminal of the cloud computer as described in any one of claims 1 to 6 are implemented.

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