Unmanned aerial vehicle relay tracking method and device and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle relay tracking method and device and a storage medium. The method comprises the steps of obtaining task information, wherein the task information is used for indicating a tracking task for at least one target; according to the task information, calling a task unmanned aerial vehicle to execute the tracking task; detecting state information when the task unmanned aerial vehicle executes the tracking task, and when the task unmanned aerial vehicle triggers a preset relay condition, determining a relay tracking task for the target; and calling a relay unmanned aerial vehicle to execute the relay tracking task, and controlling the task unmanned aerial vehicle to return after the relay unmanned aerial vehicle arrives at the area where the target is located. According to the invention, automatic cooperation and relay tracking of the multiple unmanned aerial vehicles to the target are realized, manual intervention is significantly reduced, and the response speed and decision-making efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV relay tracking method, device, and storage medium. Background Technology

[0002] Unmanned aerial vehicles (UAVs), or unmanned aircraft, have been widely used in many fields such as security monitoring, area patrol, and geographic mapping. However, the performance limitations of a single UAV are becoming increasingly apparent when performing long-duration, large-scale monitoring missions, especially the continuous tracking of moving targets. Limited by the range of onboard batteries, a single UAV must return to its home base to recharge after its battery is depleted, often forcing the interruption of tracking missions and resulting in the loss of critical targets.

[0003] To address the limitations of single-drone endurance, several multi-drone collaborative solutions have emerged. However, these solutions generally suffer from drawbacks. Firstly, the handover (relay) between multiple drones heavily relies on manual operation. Pilots must manually determine the handover timing, manually select a backup aircraft, manually plan flight routes, manually direct the aircraft to take over the target, and manually command the preceding aircraft to return. This is not only slow and prone to operational errors, but also difficult to execute in weak network environments. Secondly, the lack of an effective mechanism for collaborative handover between multiple drones means that after the relay aircraft reaches the last known location of the target, it needs to re-search, making it highly susceptible to target loss during the handover phase and causing a break in the tracking chain. Summary of the Invention

[0004] One objective of this application is to provide a method, apparatus, and storage medium for drone relay tracking, in order to solve the technical problem that multi-drone collaborative tracking relies on manual operation and lacks a collaborative mechanism.

[0005] In a first aspect, embodiments of this application provide a drone relay tracking method, comprising: Obtain task information, which is used to indicate a tracking task for at least one target; Based on the task information, the task drone is invoked to perform the tracking task; The status information of the mission drone when it performs the tracking task is detected, and when the mission drone triggers the preset relay conditions, the relay tracking task for the target is determined. The relay drone is invoked to perform the relay tracking task, and the task drone is controlled to return to its home location after the relay drone reaches the target area.

[0006] In conjunction with the first aspect, in one possible implementation, obtaining task information includes: The deployment strategy input by the user is obtained. The configuration items of the deployment strategy include at least one type of target identification, and the tracking action of the mission drone or relay drone after the target is identified. The tracking strategy input by the user is obtained. The configuration items of the tracking strategy include the drone grouping of the relay task and the status information of the task drone when the relay condition is triggered. The task information is determined based on the deployment strategy and the tracking strategy.

[0007] In conjunction with the first aspect, in one possible implementation, the mode in which the mission drone performs the tracking task includes: In the flight path tracking mode, the mission drone flies along a preset flight path and tracks the target using a gimbal. Off-course tracking mode: The mission drone departs from the preset flight path to create and execute a rapid mission for performing specific maneuvering flight around the target.

[0008] The relay conditions include: The mission drone is in the flight path tracking mode or off-flight tracking mode, the gimbal of the mission drone is locked to the target, and the battery level of the mission drone is below a preset threshold.

[0009] In conjunction with the first aspect, in one possible implementation, the invocation of the relay drone to perform the relay tracking task includes: Select available drones as the relay drones in the drone formation for the relay mission; By inheriting the original mission route of the mission UAV and adding a preset altitude offset at each waypoint, a relay route is constructed. The relay route is used to guide the relay UAV from its current position to the target area. After the relay drone enters the relay route, the relay tracking task is sent to the relay drone.

[0010] In conjunction with the first aspect, in one possible implementation, after invoking the relay drone to perform the relay tracking task, the method further includes: Obtain the location information of the target; Based on the target's location information, determine whether the target has undergone significant displacement. The significant displacement includes the target's horizontal displacement exceeding a preset horizontal distance threshold, or the target's height change exceeding a preset height change threshold. If the target's position shifts significantly, the relay tracking task for the relay drone is updated based on the updated target position.

[0011] In conjunction with the first aspect, in one possible implementation, controlling the mission drone to return after the relay drone reaches the target area includes: The timing begins the moment the relay drone arrives at the target area, and the duration of the relay drone's stay in the target area is determined. After the dwell time reaches the preset duration, a return command is sent to the mission drone.

[0012] In conjunction with the first aspect, in one possible implementation, the method further includes, before sending a return-to-home command to the mission drone: Detect whether the drone is still in the tracking mission state; If the mission drone has exited the tracking mission state, the automatic return command will be terminated to avoid command conflicts.

[0013] In conjunction with the first aspect, in one possible implementation, the method further includes: If manual control input from the user is detected on the relay drone, the execution process of the relay tracking task is terminated, and control of the relay drone is transferred to the user.

[0014] In a second aspect, embodiments of this application also propose a drone relay tracking device, comprising: The data acquisition module is used to acquire the status of the task drone that performs the tracking task on the target; An event triggering module is used to trigger a relay event when the state of the mission drone meets preset relay conditions, wherein the relay conditions include at least the mission drone's battery level being lower than a preset battery threshold. A trigger response module is used to respond to the relay event, identify the relay drone and issue a relay tracking instruction, wherein the relay tracking instruction is used to instruct the relay drone to perform relay tracking of the target; The relay scheduling module is used to issue an automatic return command to the task drone after determining that the relay drone has reached the target area.

[0015] In a third aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any of the first aspects.

[0016] The embodiments of this application can achieve the following technical effects: On the one hand, the embodiments of this application automatically trigger a relay drone to take over the task when the task drone's battery is low, and instruct the task drone to return after the handover is successful. This effectively solves the problem of long-term tracking task interruption caused by the limited battery life of a single drone, realizes uninterrupted tracking of the target, and greatly improves the continuity and success rate of the task.

[0017] On the other hand, this application's embodiments address the shortcomings of existing solutions that heavily rely on manual intervention for task handover. They automate a series of operations, including determining the handover timing, selecting the relay drone, generating the flight path, and issuing return-to-home commands, significantly reducing manual intervention and improving response speed and decision-making efficiency. Simultaneously, addressing the shortcomings of existing solutions such as discontinuous handovers and the easy loss of moving targets, this application dynamically updates the mission position of the relay drone, ensuring its continuous tracking of moving targets. This solves the problem of handover failure or tracking chain breakage caused by changes in target position, guaranteeing mission continuity. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a drone relay system provided in an embodiment of this application; Figure 2 A flowchart illustrating a drone relay tracking method provided in this application embodiment; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0021] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the system diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the system or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0022] First see Figure 1 , Figure 1 This is a schematic diagram of a drone relay system provided in an embodiment of this application, as shown below. Figure 1 As shown, the drone relay system includes a control center 101, a mission drone 102, and one or more relay drones 103. The control center 101 is connected to the mission drone 102 and the relay drones 103. Obviously, their respective hardware devices integrate the communication modules necessary for this communication.

[0023] The mission drone 102 is the first drone to perform the tracking task. It receives the task issued by the control center 101, patrols on the preset route or deviates from the route to track the target according to the instructions, and continuously transmits its own status information and sensor data back to the control center.

[0024] The relay drone 103 is a standby drone, usually deployed near the mission area. When selected by the control center 101 to perform a relay mission, it receives and executes the relay route and tracking instructions, flies to the target area, and seamlessly takes over the continuous tracking and monitoring of the target from the mission drone 102.

[0025] Control center 101 allows users to configure deployment strategies, including target identification types and UAV tracking actions, as well as tracking strategies, including UAV grouping and relay triggering conditions. Control center 101 further generates specific tracking task instructions based on these strategies.

[0026] The control center 101 monitors the execution status of the mission drone 102 in real time, including its operating mode (such as a route tracking mode that cruises on a preset route or an "off-route tracking mode" that deviates from the route and orbits the target at close range), whether the gimbal is continuously locking onto the target, and battery level. When the control center detects that the mission drone 102 meets the preset relay conditions (such as the battery level being below a safety threshold), it automatically initiates a relay tracking mission.

[0027] After deciding on the relay, the control center selects an available relay drone 103 from the preset drone group. The original mission route of the relay drone 103 and the mission drone 102 generate a new relay route. The route usually adds a certain altitude offset to the original waypoint to safely guide the relay drone 103 from the current position to the target airspace.

[0028] During the relay, the control center continuously acquires the target's latest position. If the target undergoes significant displacement (e.g., horizontal movement or altitude change exceeding a set threshold), the control center will update the mission route and tracking instructions for the relay drone 103 in real time. Once the relay drone 103 arrives at the target area and confirms takeover tracking, the control center will start a timer.

[0029] After the relay drone 103 has stably tracked the target drone for a preset period of time, it issues an automatic return-to-home command to the mission drone 102. Before sending the return-to-home command, the control center 101 verifies whether the mission drone has exited the tracking state to prevent control command conflicts.

[0030] Figure 2 This application illustrates a flowchart of a drone relay tracking method according to an embodiment of the present application. This method can be applied to… Figure 1 The control center 101 is shown.

[0031] like Figure 2 As shown, the above-mentioned drone relay tracking method includes steps S10-S40: Step S10: Obtain task information, which is used to indicate a tracking task for at least one target; Step S20: Based on the task information, invoke the task drone to execute the tracking task; Step S30: Detect the status information of the mission drone when it is performing the tracking task, and determine the relay tracking task for the target when the mission drone triggers the preset relay conditions; Step S40: Call the relay drone to perform the relay tracking task, and control the task drone to return after the relay drone reaches the target area.

[0032] In this embodiment, the control center 101 first receives a tracking task from a user or a superior command system. Exemplarily, the task information may include, but is not limited to: Target identification: For example, an image of a suspicious blue vehicle with license plate number xx that needs to be tracked, or facial feature data of a specific person; Initial location: The approximate geographical coordinates (latitude and longitude) of the area where the target last appeared; Task parameters: For example, the required tracking duration (e.g., continuous tracking for 2 hours), tracking distance (e.g., maintaining a distance of 50-100 meters behind the target), tracking altitude (e.g., maintaining a relative altitude of 50 meters), etc. After receiving the mission information, the control center 101 will parse and format it to generate a standard internal mission instruction, in preparation for the subsequent use of the drone.

[0033] After generating the mission instructions, the control center 101 needs to select the most suitable drone from the drone cluster it manages as the initial mission drone.

[0034] For example, the criteria for the control center 101 to select the mission drone may include: Optimal location: Select the drone closest to the target's initial location to arrive at the scene as quickly as possible; Optimal condition: Among drones in close proximity, prioritize the one with the fullest battery, the best airframe condition, and the best-maintained onboard equipment (such as cameras).

[0035] For example, control center 101 finds that drone A01 is closest to the target area and has 98% battery, and then determines that A01 is the mission drone for this mission. Control center 101 sends mission instructions to drone A01 through a wireless communication link (such as 4G / 5G or a dedicated data radio).

[0036] After receiving instructions, UAV A01 automatically takes off or adjusts its flight path to the target area. Upon arrival, it uses its onboard electro-optical pod, high-definition camera, and other reconnaissance equipment to search for and lock onto the target vehicle through image recognition algorithms. Once successfully locked on, UAV A01 begins its tracking mission, transmitting the target's dynamic position, speed, and on-site video footage back to control center 101 in real time.

[0037] During the tracking mission performed by UAV A01, control center 101 continuously receives and monitors its transmitted status information at a high frequency (e.g., once per second). This status information serves as a key basis for determining whether a relay is needed. For example, it may include: Status of power: Remaining battery percentage or remaining battery life; Communication status: the strength of the communication signal, data link bandwidth, and stability with control center 101; Location status: Whether the drone is about to fly out of the preset safe operating airspace or communication coverage area; Task duration: The time during which the task has been executed continuously.

[0038] The control center 101 has preset relay conditions, which can be a combination of one or more conditions. In this embodiment, the preset relay condition can be specifically set as follows: the remaining battery power of the mission drone is less than 20%.

[0039] Suppose that after drone A01 has been continuously tracking the target for 45 minutes, control center 101 detects that its battery status information is 19%, which is lower than the preset 20% threshold, thus successfully triggering the relay condition. At this time, control center 101 automatically determines that the relay program needs to be started and generates a relay tracking task.

[0040] After determining the relay task, Control Center 101 immediately selects the relay drone. For example, Control Center 101 reassesses the overall status of the drone swarm and selects a new drone as the relay drone, such as drone B02.

[0041] Here, the selection criteria for B02 can be: sufficient power (e.g., 100%), and based on the target location transmitted back by drone A01 in real time, B02 is the drone that can reach that location the fastest.

[0042] Control center 101 sends a relay tracking mission instruction to UAV B02. This instruction contains the latest and most accurate real-time position and motion vector information of the target provided by UAV A01, ensuring that B02 can fly accurately toward the target.

[0043] After receiving the relay tracking mission command, drone B02 flies at full speed towards the target. Once B02 reaches the target area and its onboard camera successfully locks onto the same target vehicle, B02 sends a confirmation message to control center 101 confirming target acquisition. Control center 101 can then verify that the handover conditions have been met by comparing the video feeds transmitted from A01 and B02. At this point, the tracking mission execution seamlessly switches from A01 to B02.

[0044] After confirming that UAV B02 had stably taken over the tracking task, Control Center 101 immediately sent a "return to home" command to UAV A01, whose battery was about to run out. This command included the preset return point coordinates (such as the takeoff point or a designated recovery point). UAV A01 then stopped tracking, turned around, and autonomously returned to home along the planned route to land and recharge, preparing for the next mission.

[0045] This completes a full drone relay tracking process. Drone B02 will continue the tracking as the new mission drone, and control center 101 will also monitor its status to initiate the next relay if necessary.

[0046] This embodiment monitors the status of the mission drone in real time and automatically dispatches a backup drone to take over when key indicators such as battery power and communication reach preset thresholds. This enables long-term, uninterrupted, and cross-regional continuous tracking of the target, greatly improving the success rate, coverage, and execution efficiency of drone tracking missions. It also ensures that the mission drone can return safely, avoiding equipment losses due to energy depletion or other reasons.

[0047] As a preferred implementation, obtaining task information in the above embodiments includes: The system acquires a deployment strategy input by the user, the configuration items of which include at least one target identification type and the tracking actions of the task drone or relay drone after the target is identified; it acquires a tracking strategy input by the user, the configuration items of which include the drone grouping for the relay task and the status information of the task drone when the relay condition is triggered; and it determines the task information based on the deployment strategy and the tracking strategy.

[0048] In this embodiment, patrol routes can be automatically generated for drone swarms through multimodal natural language interaction, supporting the creation of distributed multi-drone routes.

[0049] For example, this embodiment integrates the chatbox AI chat tool on the web page, which specifically integrates local large model output to generate flight path tasks, supporting drones in multiple drone clusters to create production tasks simultaneously.

[0050] In this embodiment, the user configures an AI deployment strategy for the drones in the mission, including: identification type, post-identification actions, whether to enable automatic tracking, and whether to allow tracking off the flight path. The AI ​​deployment configuration is set by the user in the Sky Dome settings interface, and can be configured to identify categories such as people / vehicles / ships / smoke / drones / flames in the mission; Meanwhile, users can further configure the relay tracking strategy for the drone swarm, including: forming relay task groups and setting the power threshold to trigger the relay. The AI ​​deployment configuration can be set by the user in the Sky Dome settings interface, and can be configured to identify categories such as people / vehicles / ships / smoke / drones / flames in the mission.

[0051] For example, users can define a deployment strategy called "Campus Boundary Intrusion Vehicle Deployment" through the policy configuration interface of the control center. The core of this strategy is to define the targets that need to be monitored and the initial actions to be taken after the targets are detected.

[0052] Based on this, the control center further invokes a feature recognition AI model (such as a deep learning model, which is not limited in this embodiment), and the user sets specific recognition rules accordingly: Rule A: Identify all non-logistics trucks that exceed 10 km / h between 22:00 and 06:00 the following day and are not registered in the park's whitelist database.

[0053] Rule B: Identify any vehicle that attempts to enter the park at any time through unauthorized entrances or exits (such as climbing over green belts or damaging fences).

[0054] At the same time, users set the drone tracking strategy, which is used to organize drone resources and ensure mission continuity.

[0055] For example, users can use the control center to filter all drones from the entire drone resource pool that have a battery health level greater than 95% and a single flight time greater than 40 minutes. Based on this filtering condition, a formation of four drones, UAV-A1, UAV-A2, UAV-A3, and UAV-A4, is generated. When it is detected that the remaining battery power of the mission drone is insufficient to support its return to the nearest charging station and safe landing (estimated power consumption + 10% safety margin), a relay is triggered.

[0056] Furthermore, the modes in which the mission drone performs the tracking task include: In the flight path tracking mode, the mission UAV flies along a preset flight path and tracks the target using a gimbal; in the off-flight tracking mode, the mission UAV deviates from the preset flight path and creates and executes a rapid mission to perform specific maneuvering flight around the target.

[0057] The relay conditions include: The mission drone is in the flight path tracking mode or off-flight tracking mode, the gimbal of the mission drone is locked to the target, and the battery level of the mission drone is below a preset threshold.

[0058] In this embodiment, upon detecting a suspicious target, the gimbal is automatically invoked to lock onto and track the target according to a preset strategy (AI deployment strategy). During mission flight, the UAV detects, identifies, and tracks the target type set by the AI ​​deployment strategy. The UAV executes the configured strategy, and upon detecting a target, it automatically defaults to the hovering tracking mode. Users can also switch tracking modes, including simple tracking, hovering tracking, figure-eight tracking, and synchronous tracking.

[0059] There are two tracking modes: Flight path tracking mode: The drone does not deviate from its original flight path; only the gimbal rotates to lock onto the target.

[0060] Off-course tracking mode: The drone temporarily deviates from its original flight path and creates a quick mission to perform hovering tracking.

[0061] Furthermore, the step of calling upon a relay drone to perform the relay tracking task includes: Select an available drone as the relay drone in the drone formation of the relay mission; construct a relay route by inheriting the original mission route of the mission drone and adding a preset altitude offset at each waypoint. The relay route is used to guide the relay drone from its current position to the target area; after the relay drone enters the relay route, issue the relay tracking task to the relay drone.

[0062] For example, suppose the mission drone UAV-M is performing a mission, while the relay drone UAV-R is on standby on the ground or hovering in the air standby area.

[0063] The UAV-M is tracking a target, either along a preset route (route tracking mode) or around a dynamically generated route (off-route tracking mode). In either case, the UAV-M has a clear route data that is being executed or has just been executed.

[0064] At this point, due to the low battery level of the UAV-M, the relay conditions have been triggered. The control center immediately retrieves the flight path data currently being executed by the UAV-M from the system.

[0065] If the UAV-M is in route tracking mode, the system retrieves its preset patrol route; if the UAV-M is in off-route tracking mode, the system retrieves the fast mission route (e.g., a route around the target) that is dynamically generated for it. This route data includes a series of waypoints, each with latitude, longitude, and altitude information.

[0066] The control center copies the inherited flight path data and modifies the altitude value of each waypoint. The modification rule is: New altitude = Original waypoint altitude + Preset altitude offset.

[0067] In this embodiment, the preset height offset is set to +20 meters.

[0068] For example, if the route of UAV-M is [(longitude 1, latitude 1, altitude 50m), (longitude 2, latitude 2, altitude 50m), ...], then the relay route generated for UAV-R is [(longitude 1, latitude 1, altitude 70m), (longitude 2, latitude 2, altitude 70m), ...].

[0069] The control center issued this newly constructed "relay route" to the UAV-R. The UAV-R will first fly to the first waypoint of this relay route, and then rapidly approach the target area along this "air corridor" which is 20 meters higher than the UAV-M.

[0070] The control center monitors the status of the UAV-R. Once the UAV-R reports that it has reached the first waypoint of the "relay route" and has begun flying along the route, the control center considers it to have officially entered the relay process.

[0071] At this time, the control center sends the complete relay tracking mission information to the UAV-R in advance. This mission information is the same as the mission information previously performed by the UAV-M (e.g., the same target identification, tracking actions, etc.), but there may be some minor adjustments (such as adjusting the initial flight altitude).

[0072] When the UAV-R flies along the relay route and reaches directly above the location of the UAV-M (with a height difference of 20 meters), it can lock onto the target from a high altitude using its own gimbal.

[0073] The control center issues a start tracking command to the UAV-R and a return-to-home command to the UAV-M simultaneously. Upon receiving the commands, the UAV-R descends to its standard mission altitude (e.g., 50 meters) and officially takes over the tracking of the target.

[0074] Once the UAV-M confirms that the UAV-R has successfully locked onto the target, it will release the tracking and then return to its base or alternate landing point according to the preset return route.

[0075] This embodiment fundamentally solves the spatial conflict problem between two drones during the handover process by constructing a relay route with altitude offset, making the relay process very safe and reliable even in complex urban or mountainous environments.

[0076] Furthermore, after calling the relay drone to perform the relay tracking task, this embodiment also includes: Obtain the location information of the target; based on the location information of the target, determine whether the target has undergone significant displacement, the significant displacement including the horizontal displacement of the target exceeding a preset horizontal distance threshold, or the height change of the target exceeding a preset height change threshold; if the target's location has undergone significant displacement, then update the relay tracking task for the relay drone based on the updated target location.

[0077] Specifically, taking the continuous tracking of moving vehicles in a complex urban environment as an example, the mission drone (UAV-M) is tracking a suspicious vehicle that is moving through city streets. The UAV-M's battery level triggers a relay condition, and the relay drone UAV-R has been selected and dispatched with a relay route constructed based on the UAV-M's current route, and is flying towards the target area.

[0078] Before the UAV-R takes over, the mission-specific UAV-M remains responsible for tracking. Therefore, the control platform continuously obtains the latest and most accurate location information about the target from the UAV-M.

[0079] The UAV-M uses its gimbal's target locking function, combined with its own GPS and inertial navigation system (INS), to transmit the target's three-dimensional coordinates [longitude, latitude, altitude] back to the control platform at a high frequency (e.g., 5 times per second).

[0080] In this embodiment, a threshold for significant displacement of the target is preset. This threshold consists of a horizontal distance threshold and a height change threshold. Preferably, the horizontal distance threshold can be set to 200 meters, and the height change threshold can be set to 15 meters.

[0081] The control center compares the target position P_current transmitted back by the UAV-M in real time with the initial position P_initial when the relay was triggered (or the position after the last update): Calculate the absolute value of the difference in horizontal straight-line distance between P_current and P_initial relative to the altitude. If the horizontal distance is greater than 200 meters or the height difference is greater than 15 meters, the target is determined to have undergone significant displacement. In this case, the updated target position is used to update the relay drone's mission. Preferably, the control center sends a command to the relay UAV-R to terminate its current relay route.

[0082] Based on the updated target position P_current, the control center reconstructs the relay route, specifically including: Obtain the actual flight path of UAV-M from P_initial to P_current. Based on this latest trajectory, add an altitude offset of +20 meters to generate a brand new relay route pointing to the latest position of the target.

[0083] If the target is vertical movement (e.g., a vehicle entering the second floor of a multi-story parking garage), the endpoint height of the new relay route will be adjusted accordingly (e.g., from the originally planned 70 meters above the street to the second floor of the parking garage, i.e., the new target height is 15 meters + the UAV-M mission height is 50 meters + the offset is 20 meters).

[0084] The control platform then issued the updated relay route and tracking task to the UAV-R. The UAV-R subsequently adjusted its flight course and flew towards the target along this optimized new path.

[0085] This embodiment effectively avoids relay drones flying to outdated or ineffective locations, saving valuable flight time and power, and ensuring that they can reach the most effective location via the fastest path.

[0086] Furthermore, after the relay drone arrives at the target area, controlling the mission drone to return includes: The timing begins as soon as the relay drone arrives at the target area to determine the duration of the relay drone's stay in the target area; after the stay duration reaches the preset duration, a return command is sent to the mission drone.

[0087] In this embodiment, after the relay drone arrives at the target area, the control system does not immediately order the mission drone to return. Instead, it begins timing to determine the duration the relay drone stays in the target area. Only after the stay reaches a preset duration (e.g., 10 seconds) does the control system send a return command to the mission drone. This brief waiting time ensures that the relay drone has stabilized its flight attitude, adjusted its gimbal, and successfully locked onto the target, thus achieving effective mission takeover.

[0088] Furthermore, before sending the return command to the mission drone, the method further includes: The system detects whether the mission drone is still in the tracking mission state; if the mission drone has exited the tracking mission state, the automatic return command is terminated to avoid command conflicts.

[0089] In this embodiment, before sending the automatic return-to-home command to the task drone, the control center performs a pre-check. Specifically, it checks whether the task drone is still in the tracking task state. If, during the brief interval of waiting for the relay, the task drone has exited the tracking task state for other reasons (such as manual operation by the user, signal loss, etc.), the system will terminate the issuance of the automatic return-to-home command to avoid sending a contradictory command to the drone that is inconsistent with its current state.

[0090] Furthermore, the method also includes: If manual control input from the user is detected on the relay drone, the execution process of the relay tracking task is terminated, and control of the relay drone is transferred to the user.

[0091] In this embodiment, manual control is given the highest priority. At any stage of the automated relay process, if the system detects a manual control input signal from the user to the relay drone (or mission drone), it will immediately terminate the currently executing automated relay tracking task and transfer full control of the drone to the user to deal with emergencies or meet the user's special operational needs.

[0092] Furthermore, embodiments of this application propose a drone relay tracking device, comprising: A data acquisition module is used to acquire task information, which is used to indicate a tracking task for at least one target; The task scheduling module is used to call the task drone to execute the tracking task based on the task information; The event triggering module is used to detect the status information of the mission drone when it performs the tracking task, and to determine the relay tracking task of the target when the mission drone triggers the preset relay conditions. The relay tracking module is used to call upon a relay drone to perform the relay tracking task, and to control the task drone to return home after the relay drone reaches the target area.

[0093] In one possible implementation, the data acquisition module, when used to acquire task information, is specifically used for: The deployment strategy input by the user is obtained. The configuration items of the deployment strategy include at least one type of target identification, and the tracking action of the mission drone or relay drone after the target is identified. The tracking strategy input by the user is obtained. The configuration items of the tracking strategy include the drone grouping of the relay task and the status information of the task drone when the relay condition is triggered. The task information is determined based on the deployment strategy and the tracking strategy.

[0094] In one possible implementation, the modes in which the mission drone performs the tracking task include: In the flight path tracking mode, the mission drone flies along a preset flight path and tracks the target using a gimbal. Off-course tracking mode: The mission drone departs from the preset flight path to create and execute a rapid mission for performing specific maneuvering flight around the target.

[0095] The relay conditions include: The mission drone is in the flight path tracking mode or off-flight tracking mode, the gimbal of the mission drone is locked to the target, and the battery level of the mission drone is below a preset threshold.

[0096] In one possible implementation, the relay tracking module, when used to invoke the relay drone to perform the relay tracking task, is specifically used for: Select available drones as the relay drones in the drone formation for the relay mission; By inheriting the original mission route of the mission UAV and adding a preset altitude offset at each waypoint, a relay route is constructed. The relay route is used to guide the relay UAV from its current position to the target area. After the relay drone enters the relay route, the relay tracking task is sent to the relay drone.

[0097] In one possible implementation, the relay tracking module, when used to invoke the relay drone to perform the relay tracking task, is also used for: Obtain the location information of the target; Based on the target's location information, determine whether the target has undergone significant displacement. The significant displacement includes the target's horizontal displacement exceeding a preset horizontal distance threshold, or the target's height change exceeding a preset height change threshold. If the target's position shifts significantly, the relay tracking task for the relay drone is updated based on the updated target position.

[0098] In one possible implementation, the relay tracking module, when controlling the mission drone to return after the relay drone has reached the target area, is specifically used for: The timing begins the moment the relay drone arrives at the target area, and the duration of the relay drone's stay in the target area is determined. After the dwell time reaches the preset duration, a return command is sent to the mission drone.

[0099] In one possible implementation, the data acquisition module 100, when used to send a return command to the mission drone, is also used to: Detect whether the drone is still in the tracking mission state; If the mission drone has exited the tracking mission state, the automatic return command will be terminated to avoid command conflicts.

[0100] In one possible implementation, the data acquisition module is also used for: If manual control input from the user is detected on the relay drone, the execution process of the relay tracking task is terminated, and control of the relay drone is transferred to the user.

[0101] Furthermore, embodiments of this application also propose a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the method described in the above embodiments.

[0102] Further, see Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. This electronic device can serve as the control center 101 in the above embodiments. The electronic device 60 includes one or more processors 61 and a memory 62. The memory 62 is connected to one or more processors 61, for example, via a bus.

[0103] Processor 61 is configured to support the electronic device in performing the corresponding functions in the methods described in the above method embodiments. Processor 61 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0104] Memory 62 is used to store program code, etc. Memory 62 may include volatile memory (VM), such as random access memory (RAM); memory 62 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 62 may also include combinations of the above types of memory.

[0105] The memory 62 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the UAV relay tracking method in the embodiments of this application. The processor 61 executes various functional applications and data processing of the UAV relay tracking method and UAV relay tracking device by running the non-volatile software programs, instructions, and modules stored in the memory 62, thereby realizing the functions of each module or unit of the UAV relay tracking method and UAV relay tracking device provided in the above method embodiments.

[0106] The memory 62 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function. The data storage area may store data created based on the use of the drone relay tracking method, etc. In some embodiments, the memory 62 may optionally include memory remotely located relative to the processor 61, which can be connected to the drone relay tracking device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] One or more modules are stored in memory 62. When executed by one or more processors 61, they execute the UAV relay tracking method in any of the above method embodiments. For example, they execute the method steps described in the above method embodiments to realize the functions of the modules described in the above device embodiments.

[0108] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When executed by a processor of an electronic device, the program instructions cause the processor to perform the drone relay tracking method as described in the foregoing embodiments.

[0109] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0110] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A method for relay tracking of unmanned aerial vehicles (UAVs), characterized in that, include: Obtain task information, which is used to indicate a tracking task for at least one target; Based on the task information, the task drone is invoked to perform the tracking task; The status information of the mission drone when it performs the tracking task is detected, and when the mission drone triggers the preset relay conditions, the relay tracking task for the target is determined. The relay drone is invoked to perform the relay tracking task, and the task drone is controlled to return to its home location after the relay drone reaches the target area.

2. The method according to claim 1, characterized in that, The acquisition of task information includes: The deployment strategy input by the user is obtained. The configuration items of the deployment strategy include at least one type of target identification, and the tracking action of the mission drone or relay drone after the target is identified. The tracking strategy input by the user is obtained. The configuration items of the tracking strategy include the drone grouping of the relay task and the status information of the task drone when the relay condition is triggered. The task information is determined based on the deployment strategy and the tracking strategy.

3. The method according to claim 1, characterized in that, The modes in which the mission drone performs the tracking task include: In the flight path tracking mode, the mission drone flies along a preset flight path and tracks the target using a gimbal. Off-course tracking mode: The mission drone departs from the preset flight path to create and execute a rapid mission for performing specific maneuvering flight around the target; The relay conditions include: The mission drone is in the flight path tracking mode or off-flight tracking mode, the gimbal of the mission drone is locked to the target, and the battery level of the mission drone is below a preset threshold.

4. The method according to claim 1, characterized in that, The process of calling upon a relay drone to perform the relay tracking task includes: Select available drones as the relay drones in the drone formation for the relay mission; By inheriting the original mission route of the mission UAV and adding a preset altitude offset at each waypoint, a relay route is constructed. The relay route is used to guide the relay UAV from its current position to the target area. After the relay drone enters the relay route, the relay tracking task is sent to the relay drone.

5. The method according to claim 1, characterized in that, After invoking the relay drone to perform the relay tracking task, the method further includes: Obtain the location information of the target; Based on the target's location information, determine whether the target has undergone significant displacement. The significant displacement includes the target's horizontal displacement exceeding a preset horizontal distance threshold, or the target's height change exceeding a preset height change threshold. If the target's position shifts significantly, the relay tracking task for the relay drone is updated based on the updated target position.

6. The method according to claim 1, characterized in that, After the relay drone reaches the target area, control the mission drone to return, including: The timing begins the moment the relay drone arrives at the target area, and the duration of the relay drone's stay in the target area is determined. After the dwell time reaches the preset duration, a return command is sent to the mission drone.

7. The method according to claim 6, characterized in that, Before sending a return command to the mission drone, the method further includes: Detect whether the drone is still in the tracking mission state; If the mission drone has exited the tracking mission state, the automatic return command will be terminated to avoid command conflicts.

8. The method according to claim 1, characterized in that, The method further includes: If manual control input from the user is detected on the relay drone, the execution process of the relay tracking task is terminated, and control of the relay drone is transferred to the user.

9. A drone relay tracking device, characterized in that, include: A data acquisition module is used to acquire task information, which is used to indicate a tracking task for at least one target; The task scheduling module is used to call the task drone to execute the tracking task based on the task information; The event triggering module is used to detect the status information of the mission drone when it performs the tracking task, and to determine the relay tracking task of the target when the mission drone triggers the preset relay conditions. The relay tracking module is used to call upon a relay drone to perform the relay tracking task, and to control the task drone to return home after the relay drone reaches the target area.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-8.

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