Control methods, devices, equipment, media, and products for the timed arrival of unmanned aerial vehicles (UAVs).
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-17
- Publication Date
- 2026-08-14
AI Technical Summary
[0004]本发明旨在提供一种无人机定时抵达的控制方法、装置、设备、介质及产品，以解决现有手动操作的方式控制无人机定时抵达目标位置时，难以精确控制到达时间，影响无人机任务执行的问题
[0006]本申请提供的技术方案至少带来以下有益效果：本申请通过用于指示初始理论计算的无人机到达目标任务点的第一到达时刻，以及预定的第二到达时刻，生成满足无人机定时抵达目标任务点的要求目标规划航路，控制无人机沿目标规划航路飞行至目标任务点。如此，本申请通过结合理论计算的第一到达时刻和预定的第二到达时刻，动态规划无人机的航路，从而使得规划的目标规划航路，能够自动按时到达目标任务点，进而提高了无人机对抵达目标任务点时间控制的精确性。
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Figure CN122569408A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) navigation technology, and more specifically, to a control method, device, equipment, medium, and product for UAVs to arrive at a scheduled time. Background Technology
[0002] Medium and large UAVs need to coordinate with other units when carrying out missions such as military reconnaissance, target strike, and material delivery, and therefore have the operational requirement of arriving at the mission area at fixed times and locations.
[0003] The current solution for achieving scheduled and fixed-point arrival of drones to the mission area mainly relies on ground flight operators manually controlling the drone's flight to reach the mission area on time. This manual operation method requires a high level of skill from the ground flight operators and makes it difficult to accurately control the arrival time, which affects the execution of the drone mission. Summary of the Invention
[0004] The present invention aims to provide a control method, device, equipment, medium and product for the timed arrival of unmanned aerial vehicles (UAVs), in order to solve the problem that it is difficult to accurately control the arrival time when controlling UAVs to arrive at the target location in the existing manual operation method, which affects the execution of UAV missions.
[0005] Firstly, this application provides a control method for timed arrival of a drone, comprising: Determine the first arrival time; wherein the first arrival time is used to indicate the theoretical time at which the UAV arrives at the target mission point, as initially calculated; Based on the first arrival time and the second arrival time, a target planned route is generated; wherein, the second arrival time is used to indicate the predetermined time when the UAV arrives at the target mission point, and the target planned route meets the requirement that the UAV arrives at the target mission point on time. Control the drone to fly along the planned route to the target mission point.
[0006] The technical solution provided in this application offers at least the following beneficial effects: This application generates a target planned flight path that satisfies the requirement for the UAV to arrive at the target mission point on time, by using a first arrival time calculated initially based on theoretical calculations and a predetermined second arrival time. The UAV is then controlled to fly along the target planned flight path to the target mission point. Thus, by combining the theoretically calculated first arrival time and the predetermined second arrival time, this application dynamically plans the UAV's flight path, enabling the planned target flight path to automatically arrive at the target mission point on time, thereby improving the accuracy of the UAV's time control over arrival at the target mission point.
[0007] One possible implementation, determining the first arrival time, includes: Obtain the coordinates of the target task point; Based on the coordinates of the target mission point and the coordinates of the UAV, an initial planned flight path is generated; The first arrival time is calculated based on the airspeed of the drone, the ambient wind speed, and the initial planned flight path.
[0008] One possible implementation involves generating a target planned route based on the first arrival time and the second arrival time, including: Obtain the difference between the first arrival time and the second arrival time; The difference is compared with the preset value to obtain the comparison result; Based on the comparison results and the initial planned route, a target planned route is generated.
[0009] One possible implementation involves generating a target planned route based on the comparison results and the initial planned route, including: In response to a comparison result indicating that the difference is greater than or equal to a preset value, a target planned route is generated based on the difference and the initial planned route; In response to a comparison result indicating that the difference is less than a preset value, the initial planned route is marked as the target planned route.
[0010] One possible implementation involves generating a target planned route based on the difference and the initial planned route, including: The theoretical ground speed is calculated based on the airspeed of the drone and the ambient wind speed. The product of the theoretical ground speed and the difference is marked as the changed route length; whereby the changed route length is used to indicate the route that needs to be added to the initial planned route; Based on the changes in route length and target mission points, target change points are added to the initial planned route; these target change points are the mission points that the UAV needs to pass through. The planned route after adding the target change point will be marked as the target planned route.
[0011] One possible implementation involves adding a target change point to the initial planned route based on changes in route length and target mission point, including: In the initial planned route, the target change point is determined in the opposite direction of the target mission point, so that the route distance from the UAV to the target mission point via the target change point is the sum of the changed route length and the initial planned route length.
[0012] Secondly, this application provides a control device for the timed arrival of a drone, comprising: The acquisition module is used to determine the first arrival time; wherein, the first arrival time is used to indicate the theoretical time when the UAV arrives at the target mission point as initially calculated; The processing module is used to generate a target planned route based on a first arrival time and a second arrival time; wherein, the second arrival time is used to indicate the predetermined time when the UAV will arrive at the target mission point, and the target planned route meets the requirement that the UAV arrives at the target mission point on time. The control module is used to control the UAV to fly along the planned route to the target mission point.
[0013] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory storing processor-executable instructions; when the processor is configured to execute the instructions, causing the electronic device to implement the method of the first aspect described above.
[0014] Fourthly, this application provides a computer-readable storage medium comprising: computer software instructions; which, when executed in an electronic device, cause the electronic device to implement the method described in the first aspect.
[0015] Fifthly, this application provides a computer program product comprising a computer program that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect.
[0016] The beneficial effects of the second to fifth aspects mentioned above are described in the corresponding description of the first aspect and will not be repeated here. Attached Figure Description
[0017] Figure 1 A flowchart illustrating a timed arrival control method for a drone provided in an embodiment of this application; Figure 2 A schematic diagram of a UAV flight path is provided for an embodiment of this application; Figure 3 A schematic diagram of the composition of a control device for timed arrival of a drone provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0018] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.
[0019] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.
[0020] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0021] In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0022] The following is a detailed description of a control method for timed arrival of a drone provided in an embodiment of this application, with reference to the accompanying drawings.
[0023] Figure 1 This is a flowchart illustrating a control method for timed arrival of a drone, provided in an embodiment of this application. Figure 2 This is a schematic diagram of a drone flight path planning embodiment provided in this application. (Combined with...) Figure 1 and Figure 2 The following describes a control method for timed arrival of a drone provided in an embodiment of this application: S101. Determine the first arrival time.
[0024] The first arrival time is used to indicate the theoretical time when the UAV arrives at the target mission point, as initially calculated.
[0025] In one possible implementation, the coordinates of the target mission point are obtained, and an initial planned route is generated based on the coordinates of the target mission point and the coordinates of the UAV.
[0026] For example, ground operators, in accordance with coordination requirements, input the target mission point, the required course for the mission point, and the scheduled arrival time, i.e., the second arrival time, into the UAV's onboard control computer.
[0027] The first arrival time is calculated based on the airspeed of the drone, the ambient wind speed, and the initial planned flight path.
[0028] For example, calculate the lengths of each segment of the route L1, L2...L n The straight-line distance L1 from the second point to the first point is calculated as follows:
[0029]
[0030]
[0031]
[0032]
[0033] in , This indicates the latitude and longitude of the first point. , This represents the latitude and longitude of the second point, and R represents the Earth's radius.
[0034] Based on the UAV's current vacuum speed, current ambient wind speed and direction, and flight path for each segment, calculate the UAV's theoretical ground speeds V1, V2...V on each segment of the flight path. n The theoretical ground speed of the UAV from point 2 to point 1 is calculated as follows:
[0035] in , Indicates ambient wind speed, This indicates the drone's flight path angle.
[0036] Calculate the flight time T1, T2...T of the UAV along each segment of the flight path. n And calculate the total time T. Based on the total flight time and the current time, determine the theoretical time when the UAV will arrive at the target mission point, i.e., the first arrival time, as shown below:
[0037]
[0038] in, This represents the flight time of the UAV in the i-th segment. Indicates the length of the i-th segment of the route. This represents the theoretical ground speed of the UAV in the i-th segment.
[0039] S102. Generate the target planned route based on the first arrival time and the second arrival time.
[0040] In one possible implementation, the difference between the first arrival time and the second arrival time is obtained, the difference is compared with a preset value to obtain a comparison result, and a target planned route is generated based on the comparison result and the initial planned route.
[0041] Specifically, in response to a comparison result indicating that the difference is greater than or equal to a preset value, a target planned route is generated based on the difference and the initial planned route.
[0042] Specifically, in response to a comparison result indicating that the difference is less than a preset value, the initial planned route is marked as the target planned route.
[0043] Furthermore, the generation of the target planned route based on the difference and the initial planned route is explained in more detail: Based on the airspeed of the UAV and the ambient wind speed, the theoretical ground speed is calculated. The product of the theoretical ground speed and the difference is marked as the changed route length. The changed route length is used to indicate the route that needs to be added to the initial planned route.
[0044] For example, the theoretical ground speed V of the UAV when flying along the heading towards the target mission point is calculated as follows:
[0045] in, For the airspeed of the drone, For ambient wind speed, The flight path angle of the drone.
[0046] The required change in the planned flight path length ΔL is calculated based on the difference between the first and second arrival times ΔT and the theoretical ground speed V of the UAV.
[0047] in, The theoretical ground speed of the drone, The difference between the first and second arrival times. To change the length of the flight route.
[0048] Based on the changes in route length and target mission points, target change points are added to the initial planned route; where target change points are the mission points that the UAV needs to pass through.
[0049] For example, such as Figure 2 As shown, adding a target change point means determining a target change point in the opposite direction of the initial planned route towards the target mission point, so that the route distance from the UAV to the target mission point via the target change point is the sum of the changed route length and the initial planned route length.
[0050] The planned route after adding the target change point will be marked as the target planned route.
[0051] For example, the UAV's planned route is modified based on the changed route length ΔL. Specifically, a target change point P is found in the opposite direction of the target mission point's heading, so that the route length from the UAV to the target mission point via the target change point P is the original route length plus the changed route length. The length of the target planned route is calculated using the following formula:
[0052] in, The length of the planned route is ΔL, where ΔL is the length of the changed route. This refers to the length of each segment of the route in the initial planned route.
[0053] S103. Control the UAV to fly along the planned route to the target mission point.
[0054] In one possible implementation, the onboard control computer calculates the theoretical speed at which the UAV needs to reach the mission point within a predetermined time along the current flight path based on the difference between the first arrival time and the second arrival time, updates the first arrival time in real time based on the theoretical speed, and adjusts the UAV's flight speed based on the first arrival time to control the UAV to arrive at the mission point on time.
[0055] In this embodiment, based on the target mission point and the predetermined second arrival time, the first arrival time of the UAV is calculated using the current airspeed and ambient wind speed and direction. The difference between the first arrival time and the predetermined second arrival time is also calculated. Simultaneously, the required flight path length for the UAV to arrive at the second arrival time is calculated in reverse. The UAV mission path is then automatically planned, and the path planning results can be iteratively optimized multiple times. During the execution of the planned path, the UAV flight speed is adjusted in real time according to the second arrival time, ultimately achieving the requirement for the UAV to arrive at the mission point on time.
[0056] In some embodiments, this application also provides a control method apparatus for timed arrival of a drone. This drone timed arrival control method apparatus may include one or more functional modules for implementing the drone timed arrival control method of the above method embodiments.
[0057] For example, Figure 3 This is a schematic diagram illustrating the composition of a control device for a drone's timed arrival, provided as an embodiment of this application. Figure 3 As shown, the control device for the drone's timed arrival includes: an acquisition module 201, a processing module 202, and a control module 203.
[0058] The acquisition module 201 is used to determine the first arrival time; wherein the first arrival time is used to indicate the theoretical time when the UAV arrives at the target mission point as initially calculated.
[0059] The processing module 202 is used to generate a target planned route based on a first arrival time and a second arrival time; wherein the second arrival time is used to indicate the predetermined time when the UAV arrives at the target mission point, and the target planned route meets the requirement that the UAV arrives at the target mission point on time.
[0060] The control module 203 is used to control the UAV to fly along the planned flight path to the target mission point.
[0061] In some embodiments, the acquisition module 201 is specifically used to acquire the coordinates of the target task point; Based on the coordinates of the target mission point and the coordinates of the UAV, an initial planned flight path is generated; The first arrival time is calculated based on the airspeed of the drone, the ambient wind speed, and the initial planned flight path.
[0062] In some embodiments, the processing module 202 is specifically used to obtain the difference between the first arrival time and the second arrival time; The difference is compared with the preset value to obtain the comparison result; Based on the comparison results and the initial planned route, the target planned route is generated.
[0063] In some embodiments, the processing module 202 is specifically configured to generate a target planned route based on the difference and the initial planned route in response to a comparison result indicating that the difference is greater than or equal to a preset value; In response to a comparison result indicating that the difference is less than the preset value, the initial planned route is marked as the target planned route.
[0064] In some embodiments, the processing module 202 is specifically used to calculate the theoretical ground speed based on the airspeed of the UAV and the ambient wind speed; The product of the theoretical ground speed and the difference is marked as the changed route length; whereby the changed route length is used to indicate the route that needs to be added to the initial planned route; Based on the changes in route length and target mission points, target change points are added to the initial planned route; these target change points are the mission points that the UAV needs to pass through. The planned route after adding the target change point will be marked as the target planned route.
[0065] In some embodiments, the processing module 202 is specifically used to determine a target change point in the opposite direction of the initial planned route to the target mission point, so that the route distance from the UAV to the target mission point via the target change point is the sum of the changed route length and the initial planned route length.
[0066] Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device includes: a processor 402, a communication interface 403, and a bus 404. Optionally, the electronic device may also include a memory 401.
[0067] Processor 402 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 402 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 402 may also be a combination of functions implementing computing capabilities, such as a combination including CPU0 and CPU1, a DSP, and a microprocessor.
[0068] The communication interface 403 includes a receiving unit and a transmitting unit, and is used to connect with other devices via a communication network. This communication network can be Ethernet, a wireless access network, a wireless local area network (WLAN), etc.
[0069] The memory 401 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.
[0070] In one possible implementation, the memory 401 can exist independently of the processor 402. The memory 401 can be connected to the processor 402 via a bus 404 and is used to store instructions or program code. When the processor 402 calls the instructions or program code stored in the memory 401, it can implement the UAV timing arrival control method provided in this embodiment of the invention.
[0071] In another possible implementation, the memory 401 can also be integrated with the processor 402.
[0072] Bus 404 can be an extended industry standard architecture (EISA) bus, etc. Bus 404 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0073] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the service calling device can be divided into different functional modules to complete all or part of the functions described above.
[0074] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be executed by computer instructions instructing related hardware. The program can be stored in the aforementioned computer-readable storage medium, and when executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be any of the foregoing embodiments or memory. The aforementioned computer-readable storage medium can also be an external storage device of the aforementioned service invocation device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the aforementioned service invocation device. Further, the aforementioned computer-readable storage medium can include both internal storage units of the aforementioned service invocation device and external storage devices. The aforementioned computer-readable storage medium is used to store the aforementioned computer program and other programs and data required by the aforementioned service invocation device. The aforementioned computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
[0075] This application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to execute the drone timing arrival control method provided in the above embodiments.
[0076] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A control method for timed arrival of a drone, characterized in that, The method includes: Determine the first arrival time; wherein the first arrival time is used to indicate the theoretical time at which the UAV arrives at the target mission point, as initially calculated; Based on the first arrival time and the second arrival time, a target planned route is generated; wherein, the second arrival time is used to indicate the predetermined time when the UAV arrives at the target mission point, and the target planned route meets the requirement that the UAV arrives at the target mission point on time; Control the UAV to fly along the planned route to the target mission point.
2. The control method for timed arrival of a drone according to claim 1, characterized in that, Determining the first arrival time includes: Obtain the coordinates of the target task point; Based on the coordinates of the target mission point and the coordinates of the UAV, an initial planned flight path is generated; The first arrival time is calculated based on the airspeed of the UAV, the ambient wind speed, and the initial planned route.
3. The control method for timed arrival of a drone according to claim 2, characterized in that, The step of generating the target planned route based on the first arrival time and the second arrival time includes: Obtain the difference between the first arrival time and the second arrival time; The difference is compared with a preset value to obtain a comparison result; Based on the comparison results and the initial planned route, the target planned route is generated.
4. The control method for timed arrival of a drone according to claim 3, characterized in that, The step of generating the target planned route based on the comparison result and the initial planned route includes: In response to the comparison result indicating that the difference is greater than or equal to the preset value, the target planned route is generated based on the difference and the initial planned route; In response to the comparison result indicating that the difference is less than the preset value, the initial planned route is marked as the target planned route.
5. The control method for timed arrival of a drone according to claim 4, characterized in that, The step of generating the target planned route based on the difference and the initial planned route includes: Based on the airspeed of the UAV and the ambient wind speed, the theoretical ground speed is calculated. The product of the theoretical ground speed and the difference is marked as the changed route length; wherein, the changed route length is used to indicate the route that needs to be added to the initially planned route; Based on the changed route length and the target mission point, a target change point is added to the initial planned route; wherein, the target change point is the mission point that the UAV needs to pass through; The planned route after adding the target change point is marked as the target planned route.
6. The control method for timed arrival of a drone according to claim 5, characterized in that, The step of adding a target change point to the initial planned route based on the changed route length and the target mission point includes: In the initial planned route, the target change point is determined in the opposite direction of the target mission point, such that the route distance from the UAV to the target mission point via the target change point is the sum of the length of the changed route and the length of the initial planned route.
7. A control device for timed arrival of unmanned aerial vehicles (UAVs), characterized in that, include: An acquisition module is used to determine a first arrival time; wherein the first arrival time is used to indicate the theoretical time at which the UAV arrives at the target mission point, as initially calculated; The processing module is used to generate a target planned route based on the first arrival time and the second arrival time; wherein the second arrival time is used to indicate the predetermined time when the UAV arrives at the target mission point, and the target planned route meets the requirement that the UAV arrives at the target mission point on time; The control module is used to control the UAV to fly along the planned route to the target mission point.
8. An electronic device, characterized in that, It includes a processor and a memory, the processor being coupled to the memory; the memory is used to store computer instructions, which are loaded and executed by the processor to enable the computer device to perform the method as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer-executable instructions that, when executed on a computer, cause the computer to perform the 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 run on an electronic device, causes the electronic device to perform the method as described in any one of claims 1 to 6.