Unmanned aerial vehicle task scheduling method and device, electronic equipment, medium and product

Abstract

The invention discloses an unmanned aerial vehicle task scheduling method and device, electronic equipment, a medium and a product. The method comprises the following steps: acquiring all to-be-executed tasks in the remote control system; uniformly registering the to-be-executed tasks into a pre-constructed task table; wherein the unified scheduling entry of the task table is a preset main scheduling function; triggering a new task scheduling cycle according to the minimum time beat of the system; preferentially executing the currently triggered target key event according to the function hook triggering condition of the key event; and after the target key event is processed, according to the main scheduling function and the scheduling frequency registered in the task table, the remaining non-core common tasks in the task table are executed in sequence. The method can solve the problems that a key radio frequency event is not responded in time and data is easy to lose.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle task scheduling method and device, electronic equipment, medium and product. BACKGROUND

[0002] An unmanned aerial vehicle remote controller needs to process multiple real-time tasks such as control instructions, image transmission, frequency hopping, etc. in a complex radio frequency environment, which puts high requirements on the reliability and timeliness of task scheduling. The existing technology usually adopts a preemptive scheduling strategy based on fixed priority. Although this strategy can realize priority management between tasks, it has the defect that the processing delay of key radio frequency events is uncontrollable in the face of multiple concurrent tasks with different real-time requirements, which easily leads to data packet loss or instruction loss due to task preemption or scheduling delay, seriously affecting the stability and safety of unmanned aerial vehicle control. SUMMARY

[0003] In view of the above problems, the present application provides an unmanned aerial vehicle task scheduling method, device, electronic equipment, medium and product, which can solve the problem of delayed response to key radio frequency events and easy data loss.

[0004] In a first aspect, the present application provides an unmanned aerial vehicle task scheduling method, comprising: obtaining all to-be-executed tasks in a remote control system; unifying registration of the to-be-executed tasks into a pre-constructed task table; wherein the unified scheduling entrance of the task table is a preset main scheduling function; triggering a new task scheduling period according to a system minimum time interval; prioritizing execution of a target key event triggered according to a function hook trigger condition of a key event; after completing processing of the target key event, sequentially executing remaining non-core ordinary tasks in the task table according to the main scheduling function and a scheduling frequency registered in the task table.

[0005] In the above technical solution, the method can realize priority response by unified task registration and main scheduling function overall scheduling, combined with the system minimum time interval and the key event function hook, thereby guaranteeing immediate processing of key radio frequency events, orderly promoting execution of ordinary tasks, effectively reducing scheduling delay and data packet loss risk, and improving the reliability and real-time performance of unmanned aerial vehicle task scheduling in a complex radio frequency environment.

[0006] In some embodiments, the unifying registration of the to-be-executed tasks into a pre-constructed task table comprises: constructing a task table and obtaining task information of the to-be-executed tasks; register the to-be-executed task into the task table according to the task information; The to-be-executed task comprises at least a radio frequency communication task and a non-core general task. The task information comprises at least a task processing function pointer, a required stack space size, a native priority, and a reference frequency at which the to-be-executed task is scheduled to be executed.

[0007] In the technical solution, the task table is constructed, and the task processing function pointer and the stack space requirement are recorded, so that the to-be-executed task is registered and managed uniformly, and the scheduling basic parameters of the radio frequency communication task and the general task are determined.

[0008] In some embodiments, the new task scheduling period is triggered according to the system minimum time tick, comprising: A semaphore triggering mechanism is constructed according to the system minimum time tick; A unified tick source driving the execution period of all tasks in the task table is determined based on the semaphore triggering mechanism; The main scheduling function is triggered and sent with a semaphore according to the unified tick source, so as to wake up the main scheduling function and trigger a complete task scheduling period.

[0009] In the technical solution, the unified semaphore triggering mechanism is constructed according to the system minimum time tick, and the unified tick source of all task execution periods is determined, so that the main scheduling function is woken up accurately.

[0010] In some embodiments, the target key event triggered currently is executed preferentially according to the function hook triggering condition of the key event, comprising: The hook function triggering conditions of a plurality of key events are detected in a preset order; When it is determined that a key event is triggered according to the hook function triggering conditions, the target key event triggered is determined, and the processing logic corresponding to the target key event is executed immediately; The key event is one of a radio frequency receiving interrupt event, a radio frequency sending completion confirmation event, a multi-path radio frequency fault event, a frequency hopping triggering event, and an upgrade package transmission triggering event. All the key events are stored and sorted according to the priority of the key event through a ring buffer queue.

[0011] In the technical solution, the method can detect the triggering state of the key event hook function in a preset order, and combine the ring buffer queue to realize the priority sorting and efficient storage of the key radio frequency event, so as to ensure that the core events such as the radio frequency receiving interruption and the frequency hopping triggering are identified immediately and executed preferentially, greatly reduce the response delay of the key event, and guarantee the reliability of the unmanned aerial vehicle radio frequency communication and core control.

[0012] In some embodiments, the method further comprises: When receiving to-be-delivered data that needs to be delivered to the unmanned aerial vehicle, the to-be-delivered data is uniformly sent to the radio frequency sending queue; wherein the to-be-delivered data at least includes control instructions, upgrade packages, and state query instructions; In each system minimum time interval, a data with the highest priority in the radio frequency sending queue is extracted for sending operation until all data in the radio frequency sending queue are sent.

[0013] In the technical solution, the method can uniformly classify the to-be-delivered data such as control instructions and upgrade packages into the radio frequency sending queue, and extract data for sending in each system minimum time interval according to the priority, so as to realize the ordered scheduling and efficient transmission of the to-be-delivered data, avoid data sending congestion or priority confusion, guarantee the priority delivery of the core control data, reduce the risk of data loss, and improve the stability of the unmanned aerial vehicle instruction transmission and upgrade interaction.

[0014] In some embodiments, the sequentially executing the remaining non-core ordinary tasks in the task table according to the main scheduling function and the registered scheduling frequency in the task table comprises: obtaining the remaining non-core ordinary tasks according to the task table; wherein the non-core ordinary tasks at least include screen display information updating tasks, user key state analysis tasks, and device matching state detection tasks; sequentially executing the non-core ordinary tasks according to the main scheduling function and the registered scheduling frequency in the task table; In the process of executing the non-core ordinary tasks, the hook function triggering conditions of a plurality of key events are continuously detected, and when a key event triggering is detected, the execution of the non-core ordinary tasks is paused first, and the newly triggered key event is executed immediately.

[0015] In the technical solution, the method can sequentially execute the non-core ordinary tasks such as screen display updating and key analysis according to the main scheduling function and the registered scheduling frequency in the task table, and continuously monitor the key event triggering state in the execution process, so as to ensure that the ordinary tasks can be paused immediately and responded preferentially when a key event triggering occurs, thereby guaranteeing the orderly advancement of the ordinary tasks while avoiding the impact on the immediate processing of the core events.

[0016] In a second aspect, the present application provides a UAV task scheduling device, comprising: an acquisition unit configured to acquire all to-be-executed tasks in a remote control system; a registration unit configured to register the to-be-executed tasks in a pre-constructed task table; wherein a unified scheduling entry of the task table is a preset main scheduling function; a triggering unit configured to trigger a new task scheduling cycle according to a system minimum time beat; a first execution unit configured to execute a target key event triggered currently in priority according to a function hook triggering condition of the target key event; a second execution unit configured to execute remaining non-core normal tasks in the task table in sequence according to the main scheduling function and a scheduling frequency registered in the task table after processing of the target key event is completed.

[0017] In the above technical solution, the device can realize standardized registration and unified management of to-be-executed tasks by constructing a task table and inputting task processing function pointers, stack space requirements and other key information, and can clearly define scheduling basic parameters of radio frequency communication tasks and normal tasks.

[0018] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, the memory is configured to store a computer program, and the processor is configured to run the computer program to make the electronic device execute the UAV task scheduling method in any one of the first aspect.

[0019] In a fourth aspect, the present application provides a readable storage medium, the readable storage medium stores a computer program, and the computer program is run by a processor to execute the UAV task scheduling method in any one of the first aspect.

[0020] In a fifth aspect, the present application provides a computer program product, the computer program product comprises a computer program, and the computer program is run by a processor to execute the UAV task scheduling method in any one of the first aspect.

[0021] The present application has the beneficial effect that the standardized registration and unified management of to-be-executed tasks can be realized by constructing a task table and inputting task processing function pointers, stack space requirements and other key information, and the scheduling basic parameters of radio frequency communication tasks and normal tasks can be clearly defined. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0023] Figure 1 A flowchart of a method for unmanned aerial vehicle task scheduling in some embodiments of the present application; Figure 2 A structural diagram of an apparatus for unmanned aerial vehicle task scheduling in some embodiments of the present application; Figure 3 A structural diagram of an electronic device in some embodiments of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms “include” and “have” and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of the present application, the technical terms “first”, “second”, etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of “a plurality of” is two or more (including two), and similarly, “a plurality of groups” means two or more groups (including two groups), and “a plurality of pieces” means two or more pieces (including two pieces) unless otherwise explicitly and specifically limited.

[0027] In this document, the reference to “embodiments” means that the specific features, structures or properties described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative embodiments to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0029] The prior art generally adopts a preemption scheduling strategy based on fixed priority, which can realize priority management between tasks, but in the face of multiple task concurrency and different real-time requirements, there is a defect that the delay of key radio event processing is uncontrollable, which is easy to cause data packet loss or instruction loss due to task preemption or scheduling delay, seriously affecting the stability and safety of unmanned aerial vehicle control.

[0030] In view of the above technical problems, the embodiments of the present application provide an unmanned aerial vehicle task scheduling method, which can realize standardized registration and unified management of to-be-executed tasks by constructing a task table and entering key information such as task processing function pointer and stack space requirement, and clearly defining the scheduling basic parameters of radio communication tasks and ordinary tasks.

[0031] As shown in Figure 1 Some embodiments of the present application provide an unmanned aerial vehicle task scheduling method, which comprises: S101, acquiring all to-be-executed tasks in a remote control system; S102, uniformly registering the to-be-executed tasks into a pre-constructed task table; wherein the unified scheduling entrance of the task table is a preset main scheduling function; S103, triggering a new task scheduling period according to the minimum time beat of the system; S104, preferentially executing the target key event triggered currently according to the function hook triggering condition of the key event; S105, after completing the processing of the target key event, sequentially executing the remaining non-core ordinary tasks in the task table according to the main scheduling function and the scheduling frequency registered in the task table.

[0032] In some embodiments, the to-be-executed task refers to a set of various tasks that need to be processed in the running process of the unmanned aerial vehicle remote control system, at least including radio communication tasks, non-core ordinary tasks, etc., covering various to-be-processed matters related to core control and auxiliary functions.

[0033] In some embodiments, the task table refers to a pre-constructed carrier for uniformly registering and managing all to-be-executed tasks, which can store task processing function pointers, stack space size, native priority, scheduling reference frequency and other task information, and provide data support for unified scheduling.

[0034] In some embodiments, the main scheduling function refers to a preset task table unified scheduling entry, which is used to coordinate the triggering of the task scheduling period, the execution of non-core general tasks according to rules, and the like, and is a core function for realizing the orderly scheduling of tasks.

[0035] In some embodiments, the system minimum time tick refers to a minimum time unit set in the unmanned aerial vehicle remote control system, which is used as a basis for the task scheduling period, for constructing a semaphore triggering mechanism, and for driving the unified execution period of the task.

[0036] In some embodiments, the task scheduling period refers to a complete time period for completing a round of task scheduling (including key event processing and general task execution) based on the system minimum time tick.

[0037] In some embodiments, the key event refers to a core event in the unmanned aerial vehicle remote control system that is crucial for the running stability and safety, and at least includes a radio frequency reception interrupt event, a radio frequency transmission completion confirmation event, a multi-path radio frequency fault event, a frequency hopping triggering event, and an upgrade package transmission triggering event.

[0038] In some embodiments, the function hook refers to a triggering detection mechanism associated with the key event, which is used to detect in real time whether the corresponding key event is triggered, and to provide a triggering signal for the priority execution of the key event.

[0039] In some embodiments, the target key event refers to a key event that has been triggered and is detected by the function hook, and the corresponding processing logic needs to be executed in priority.

[0040] In some embodiments, the non-core general task refers to an auxiliary function type task in the unmanned aerial vehicle remote control system, which does not directly affect the core radio frequency communication and control, and at least includes a screen display information updating task, a user key state analysis task, and a device matching state detection task.

[0041] In some embodiments, the scheduling frequency refers to a reference parameter set when a task to be executed is registered to the task table, which is used to determine the execution frequency of the task, and the main scheduling function executes the non-core general task according to the parameter.

[0042] For example, the method can no longer independently deploy a scheduling entry for all tasks, but can mount all tasks to the os_main_task() main scheduling function for execution. Based on this, the method can realize the reuse of task functions and the unification of scheduling logic control, and eliminate the priority conflict risks of multi-task decentralized scheduling.

[0043] For example, after the processing of the super-priority event (i.e., the key event) is completed, the os_main_task() can execute the non-core general task in turn according to the scheduling frequency registered in the TaskTable.

[0044] In the above embodiment, the method can realize unified task registration and overall scheduling with the main scheduling function, priority response by combining the system minimum time beat and the key event function hook, thereby ensuring the immediate processing of key radio frequency events, orderly advancing the execution of ordinary tasks, effectively reducing the scheduling delay and data packet loss risk, and improving the reliability and real-time performance of the unmanned aerial vehicle in a complex radio frequency environment.

[0045] In some embodiments, the to-be-executed tasks are uniformly registered in a pre-constructed task table, including: constructing a task table and obtaining task information of to-be-executed tasks; uniformly registering the to-be-executed tasks in the task table according to the task information; wherein the to-be-executed tasks at least include radio frequency communication tasks and non-core ordinary tasks; The task information at least includes a task processing function pointer, a required stack space size, a native priority, and a reference frequency at which the to-be-executed task is scheduled to be executed.

[0046] For example, the method can be based on the TaskTable task table driving mechanism, first construct a standardized task table carrier, then obtain the task information of all radio frequency / non-radio frequency tasks such as control instruction transmission, image transmission, and frequency hopping processing, and uniformly record the task function pointer, stack space configuration, native priority, and scheduling reference frequency and other core parameters in the task table, to realize the standardized registration and centralized management of all to-be-executed tasks.

[0047] In the above embodiment, the method can realize the standardized registration and unified management of to-be-executed tasks by constructing a task table and recording task processing function pointers, stack space requirements, and other key information, and clearly defining the scheduling basic parameters of radio frequency communication tasks and ordinary tasks.

[0048] In some embodiments, a new task scheduling period is triggered according to the system minimum time beat, including: constructing a semaphore triggering mechanism according to the system minimum time beat; determining a unified beat source for driving the execution period of all tasks in the task table based on the semaphore triggering mechanism; triggering and sending a semaphore to the main scheduling function according to the unified beat source, to wake up the main scheduling function and thereby trigger a complete task scheduling period.

[0049] In some embodiments, the above-mentioned semaphore triggering mechanism also supports dynamic adjustment of task scheduling frequency based on business scenarios, such as increasing the radio frequency communication task beat frequency when flying at a long distance, and increasing the data transmission task frequency when the image transmission bandwidth is increased. By replacing the traditional fixed frequency scheduling with this dynamic adjustment method, the real-time performance in multiple scenarios can be better adapted.

[0050] Exemplarily, the method can construct a semaphore trigger mechanism at the system Tick level (such as task_sem_post) and use it as a unified scheduling tick source for all tasks, so that the main scheduling function (os_main_task()) can trigger the completion of the task scheduling period through the semaphore waiting / waking up.

[0051] In the above embodiment, the method can construct a unified semaphore trigger mechanism through the system minimum time tick, establish a unified tick source for the execution period of all tasks, and ensure that the main scheduling function is accurately woken up.

[0052] In some embodiments, the target key event triggered at present is executed according to the function hook trigger condition of the key event, including: detecting the hook function trigger condition of a plurality of key events in a preset order; when it is determined that a key event is triggered according to the hook function trigger condition, determining the target key event triggered and immediately executing the processing logic corresponding to the target key event; wherein the key event is one of a radio frequency reception interrupt event, a radio frequency transmission completion confirmation event, a multi-path radio frequency fault event, a frequency hopping trigger event, and an upgrade package transmission trigger event; All key events are stored and sorted according to the priority of the key event through a ring buffer queue.

[0053] Exemplarily, the method can enter the super-priority event scheduling layer in the os_main_task() execution chain, detect and process various hook function trigger events (such as immediately processing the reception logic when the radio frequency reception interrupt hook detects the data back transmission interrupt, executing the module self-recovery when the multi-path radio frequency fault hook detects the exception, etc.) in a preset order corresponding to the priority of the key event. Wherein all key events are stored and sorted through a ring buffer queue, and the priority of the super-priority scheduling layer is higher than that of all tasks of the original RTOS, so as to ensure that the core event is not lost and is responded in priority.

[0054] Exemplarily, the method can detect and process the preset hook function trigger event in the order of the priority of the key event, specifically including: (1) Radio frequency reception interrupt hook: when the unmanned aerial vehicle data back transmission interrupt is detected, the reception event is immediately processed; (2) Radio frequency transmission completion hook: when the Tx completion Ack signal is detected, the sending confirmation logic is immediately processed; (3) Multi-path radio frequency fault hook: when the multi_rf_irq_erro_flag exception is detected, the multi_rf_init() is executed to complete the radio frequency module self-recovery; (4) Frequency hopping trigger hook: immediately execute frequency switching logic when an FHSS frequency hopping event is detected; (5) Upgrade package transmission hook: immediately process upgrade data distribution when an upgrade trigger signal is detected.

[0055] In the above embodiment, the method can detect the trigger state of the key event hook function in a preset order, and realize the priority sorting and efficient storage of key radio frequency events by combining the ring buffer queue, so as to ensure that core events such as radio frequency reception interruption and frequency hopping trigger are immediately identified and executed preferentially, greatly reduce the response delay of key events, and ensure the reliability of unmanned aerial vehicle radio frequency communication and core control.

[0056] In some embodiments, the method further comprises: When receiving to-be-distributed data that needs to be distributed to the unmanned aerial vehicle, the to-be-distributed data is uniformly sent to the radio frequency sending queue; wherein the to-be-distributed data at least includes control instructions, upgrade packages, and state query instructions; In each system minimum time beat, the data with the highest priority in the radio frequency sending queue is extracted to perform a sending operation, until all data in the radio frequency sending queue are sent.

[0057] For example, all radio frequency data (control instructions, upgrade packages, state query instructions, etc.) to be distributed to the unmanned aerial vehicle can be uniformly queued in the radio frequency sending queue (rf_queue).

[0058] For example, in each system Tick beat, after the super-priority event processing is completed, the method only extracts the single data with the highest priority from the rf_queue to perform a sending operation, so as to avoid link conflicts and Ack loss caused by concurrent competition of multiple sending requests, thereby ensuring the timing determinacy of radio frequency sending.

[0059] In the above embodiment, the method can realize the ordered scheduling and efficient transmission of to-be-distributed data by uniformly grouping the to-be-distributed data such as control instructions and upgrade packages into the radio frequency sending queue, and extracting data to perform sending in each system minimum time beat according to priority, so as to avoid data sending congestion or priority confusion, ensure the priority of core control data, reduce the risk of data loss, and improve the stability of unmanned aerial vehicle instruction transmission and upgrade interaction.

[0060] In some embodiments, according to the scheduling frequency registered in the main scheduling function and the task table, the remaining non-core ordinary tasks in the task table are executed in turn, including: The remaining non-core ordinary tasks are obtained according to the task table; wherein the non-core ordinary tasks at least include screen display information update tasks, user key state analysis tasks, and device matching state detection tasks; The non-core general tasks are executed in turn by the main scheduling function and the scheduling frequency registered in the task table. In the process of executing the non-core general tasks, the hook function triggering condition of the plurality of critical events is continuously detected, and when the critical event triggering is detected, the execution of the non-core general tasks is suspended first, and the newly triggered critical event is executed immediately.

[0061] For example, after the processing of the super-priority event (i.e., the critical event) is completed, the main scheduling function (os_main_task()) can execute the non-core general tasks such as screen display update, user key state analysis, and device matching state detection in turn according to the scheduling frequency registered in the TaskTable task table, to ensure the normal flow of non-radio business logic.

[0062] For example, in the process of executing the general tasks, if a new super-priority event triggering is detected, the execution of the current general task can be suspended, and the newly triggered super-priority event is responded to and processed in priority.

[0063] In the above embodiment, the method can execute the non-core general tasks such as screen display update and key analysis in order by the main scheduling function in combination with the scheduling frequency registered in the task table, and continuously monitor the critical event triggering state in the execution process, so as to ensure that the general tasks can be suspended immediately and responded in priority when the critical event triggering occurs, thereby avoiding the influence on the immediate processing of the core event while ensuring the orderly advancement of the general tasks.

[0064] In some embodiments, the method further comprises: dynamically adjusting the task scheduling strategy based on the real-time business state, wherein the real-time business state at least includes the image transmission bandwidth, the flight distance, and the radio link quality; The dynamic adjustment of the task scheduling strategy specifically includes: (1) increasing or reducing the scheduling frequency of the core task as needed, to reduce invalid high-frequency scheduling; (2) triggering only the necessary task logic in the current business scenario, to reduce the CPU idle rate; (3) dynamically adjusting the priority sorting rule of the radio frequency transmission queue (rf_queue) in combination with the radio link state feedback.

[0065] In the above embodiment, the method can adapt to the dynamic needs in different flight scenarios, accurately control the scheduling frequency of the core task, simplify the invalid task logic, and optimize the priority of the radio frequency data transmission, to reduce the system resource consumption, improve the CPU running efficiency, enhance the stability and adaptability of the radio link transmission, and further optimize the overall running performance of the unmanned aerial vehicle remote control system under the premise of ensuring the real-time performance of the core radio communication and control task.

[0066] Figure 2 A structural schematic diagram of a UAV task scheduling device is shown, and it should be understood that the device corresponds to the method performed in the Figure 1 The device can perform the steps involved in the foregoing method, and the specific functions and effects of the device can be referred to the description in the foregoing, and the detailed description is appropriately omitted here to avoid repetition.

[0067] The UAV task scheduling device includes: The acquisition unit 210 is configured to acquire all to-be-executed tasks in the remote control system. The registration unit 220 is configured to uniformly register the to-be-executed tasks into a pre-constructed task table; wherein, the unified scheduling entry of the task table is a preset main scheduling function. The triggering unit 230 is configured to trigger a new task scheduling period according to a system minimum time beat. The first execution unit 240 is configured to preferentially execute a target key event triggered currently according to a function hook triggering condition of the key event. The second execution unit 250 is configured to, after completing the processing of the target key event, execute remaining non-core ordinary tasks in the task table in sequence according to the main scheduling function and a scheduling frequency registered in the task table.

[0068] In some embodiments, the registration unit 220 includes: The first construction sub-unit 221 is configured to construct the task table and acquire task information of the to-be-executed tasks. The registration sub-unit 222 is configured to uniformly register the to-be-executed tasks into the task table according to the task information. The to-be-executed tasks at least include a radio frequency communication task and a non-core ordinary task. The task information at least includes a task processing function pointer, a required stack space size, a native priority, and a reference frequency of the to-be-executed tasks being scheduled and executed.

[0069] In some embodiments, the triggering unit 230 includes: The second construction sub-unit 231 is configured to construct a semaphore triggering mechanism according to a system minimum time beat. The first determination sub-unit 232 is configured to determine a unified beat source driving all task execution periods in the task table based on the semaphore triggering mechanism. The triggering sub-unit 233 is configured to trigger and send a semaphore to the main scheduling function according to the unified beat source, so as to wake up the main scheduling function and thus trigger a complete task scheduling period.

[0070] In some embodiments, the first execution unit 240 includes: The detection sub-unit 241 is configured to detect hook function triggering conditions of a plurality of key events in a preset order. The second determining sub-unit 242 is configured to determine the target critical event triggered when it is determined that the critical event is triggered according to the hook function triggering condition, and immediately execute the processing logic corresponding to the target critical event. The critical event is one of a radio frequency receiving interrupt event, a radio frequency sending completion confirmation event, a multi-path radio frequency fault event, a frequency hopping triggering event, and an upgrade package transmission triggering event. All the critical events are stored and sorted according to the priority of the critical events through a ring buffer queue.

[0071] In some embodiments, the unmanned aerial vehicle task scheduling apparatus further comprises: The sending unit 260 is configured to send the to-be-delivered data to the radio frequency sending queue when the to-be-delivered data to be delivered to the unmanned aerial vehicle is received, wherein the to-be-delivered data at least includes a control instruction, an upgrade package, and a state query instruction. The sending unit 260 is further configured to extract the data with the highest priority from the radio frequency sending queue to perform the sending operation within each system minimum time interval until all the data in the radio frequency sending queue are sent.

[0072] In some embodiments, the second execution unit 250 comprises: The obtaining sub-unit 251 is configured to obtain the remaining non-core ordinary tasks according to the task table, wherein the non-core ordinary tasks at least include a screen display information updating task, a user key state analyzing task, and a device matching state detecting task. The execution sub-unit 252 is configured to execute the non-core ordinary tasks in sequence through the main scheduling function and the scheduling frequency registered in the task table. During the execution of the non-core ordinary tasks, the hook function triggering condition of the plurality of critical events is continuously detected, and when the triggering of the critical event is detected, the execution of the non-core ordinary tasks is paused, and the newly triggered critical event is immediately executed.

[0073] As shown in Figure 3 The present application provides an electronic device 300, which comprises a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not marked). The memory 302 stores a computer program executable by the processor 301. When the computing device is running, the processor 301 executes the computer program to execute the method in any of the preceding optional implementation manners.

[0074] The present application provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the method in any of the preceding optional implementation manners is executed.

[0075] The computer readable storage medium can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0076] The present application provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to perform the method in any of the optional implementation manners.

[0077] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application. Especially, as long as there is no conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for scheduling unmanned aerial vehicle (UAV) missions, characterized in that, include: Obtain all pending tasks in the remote control system; The tasks to be executed are uniformly registered in a pre-built task table; wherein, the unified scheduling entry point of the task table is a preset main scheduling function; A new task scheduling cycle is triggered based on the system's minimum time tick. Based on the function hooks of critical events, prioritize executing the currently triggered target critical event; After the critical events are processed, the remaining non-core ordinary tasks in the task table are executed sequentially according to the main scheduling function and the scheduling frequency registered in the task table.

2. The UAV mission scheduling method according to claim 1, characterized in that, The step of uniformly registering the tasks to be executed into a pre-built task table includes: Construct a task table and obtain the task information of the tasks to be executed; The tasks to be executed are registered in the task table according to the task information. The tasks to be executed include at least radio frequency communication tasks and non-core general tasks; The task information includes at least the task processing function pointer, the required stack space size, the native priority, and the base frequency at which the task to be executed is scheduled.

3. The UAV mission scheduling method according to claim 1, characterized in that, The step of triggering a new task scheduling cycle based on the system's minimum time tick includes: Construct a semaphore triggering mechanism based on the system's minimum time cycle; Based on the semaphore triggering mechanism, a unified tick source is determined to drive the execution cycle of all tasks in the task table; The unified beat source triggers and sends a semaphore to the main scheduling function to wake up the main scheduling function and thus trigger a complete task scheduling cycle.

4. The UAV mission scheduling method according to claim 1, characterized in that, Based on the function hooks of critical events, prioritize the execution of the currently triggered target critical event, including: The triggering status of hook functions for multiple key events is detected in a preset order; When it is determined that a critical event has been triggered based on the triggering status of the hook function, the target critical event that has been triggered is identified, and the processing logic corresponding to the target critical event is executed immediately. Among them, the key events are one of the following: radio frequency reception interruption event, radio frequency transmission completion confirmation event, multi-channel radio frequency failure event, frequency hopping trigger event, and upgrade package transmission trigger event; All of the aforementioned critical events are stored in a circular buffer queue and sorted by priority.

5. The UAV mission scheduling method according to claim 1, characterized in that, The method further includes: Upon receiving data to be transmitted to the drone, the data is uniformly sent to the radio frequency transmission queue; wherein, the data to be transmitted includes at least control commands, upgrade packages, and status query commands; Within each system minimum time tick, the highest priority data is extracted from the radio frequency transmission queue and transmitted until all data in the radio frequency transmission queue has been transmitted.

6. The UAV mission scheduling method according to claim 1, characterized in that, The step of sequentially executing the remaining non-core ordinary tasks in the task table according to the main scheduling function and the scheduling frequency registered in the task table includes: The remaining non-core general tasks are obtained according to the task table; wherein, the non-core general tasks include at least the screen display information update task, the user key status parsing task, and the device matching status detection task. The non-core ordinary tasks are executed sequentially using the main scheduling function and the scheduling frequency registered in the task table. Specifically, during the execution of the non-core ordinary tasks, the triggering status of hook functions for multiple key events is continuously monitored. When a key event is detected, the execution of the non-core ordinary tasks is paused first, and the newly triggered key event is executed immediately.

7. A drone mission scheduling device, characterized in that, The UAV mission scheduling device includes: The acquisition unit is used to acquire all tasks to be executed in the remote control system; A registration unit is used to uniformly register the tasks to be executed into a pre-built task table; wherein, the unified scheduling entry point of the task table is a preset main scheduling function; The triggering unit is used to trigger a new task scheduling cycle based on the system's minimum time tick. The first execution unit is used to prioritize the execution of the currently triggered target key event based on the function hook triggering status of the key event; The second execution unit is used to execute the remaining non-core ordinary tasks in the task table in sequence according to the main scheduling function and the scheduling frequency registered in the task table after completing the processing of the target key event.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the unmanned aerial vehicle (UAV) mission scheduling method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the UAV mission scheduling method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the UAV mission scheduling method according to any one of claims 1 to 6.

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