CN112801600B - Method and device for generating route track, readable storage medium and electronic equipment - Google Patents
Method and device for generating route track, readable storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to a method and a device for generating a route track, a readable storage medium and an electronic device. The method is applied to the cloud server and comprises the following steps: determining waypoint position information of a target unmanned aerial vehicle, current load information of the target unmanned aerial vehicle and current residual capacity for implementing a delivery task of the order in response to the received order information; determining a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle according to the current load information and the current residual capacity; and generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter. So, the air route track that generates matches with target unmanned aerial vehicle's current state, under the condition of guaranteeing to deliver the article of delivery to the destination, this target unmanned aerial vehicle can accurately follow the flight of the air route track that generates, has improved target unmanned aerial vehicle's flight security.
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle technologies, and in particular, to a method and an apparatus for generating a course trajectory, a readable storage medium, and an electronic device.
Background
As online shopping has become more prevalent, more and more dispensers are required to deliver goods. However, the efficiency of the current order distribution method is low, and the situation of manpower waste is serious. To avoid the waste of manpower, more and more unmanned aerial vehicle teams are now developing unmanned aerial vehicles and systems thereof for logistics distribution in cities.
In the related art, a route track with time information is usually planned according to the starting position and the end position of the unmanned aerial vehicle and route information of other unmanned aerial vehicles in a distribution scene, a spatial position of the unmanned aerial vehicle corresponding to each given time point is defined in the route track, and the route track is issued to the unmanned aerial vehicle end for reference execution. However, due to the diversification of the delivered articles, the weight of the delivered articles of the unmanned aerial vehicle can be greatly different, so that the flight energy consumption and the response speed of the unmanned aerial vehicle can be affected. In the related art, the route track is planned only according to the starting position and the end position of the unmanned aerial vehicle and route information of other unmanned aerial vehicles in a distribution scene, so that the unmanned aerial vehicle cannot accurately follow the route track to fly when distributing articles with different weights, emergency processing logic is triggered, and the flight safety of the unmanned aerial vehicle is influenced.
Disclosure of Invention
The invention aims to provide a method and a device for generating a route track, a readable storage medium and electronic equipment so as to improve the flight safety of an unmanned aerial vehicle.
To achieve the above object, the present disclosure provides a method of generating a course trajectory, comprising:
determining waypoint position information of a target unmanned aerial vehicle for implementing a delivery task of the order, current load information and current remaining capacity of the target unmanned aerial vehicle in response to the received order information;
determining a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle according to the current load information and the current residual capacity, wherein the flight constraint parameter is used for constraining the flight state of the target unmanned aerial vehicle;
and generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the flight mileage threshold and the flight constraint parameters, wherein the route track comprises position coordinates of each waypoint and planning time information of the target unmanned aerial vehicle for reaching each waypoint.
Optionally, the determination of the mileage threshold value comprises:
determining the target unit mileage power consumption of the target unmanned aerial vehicle in the flight state meeting the flight constraint parameters according to the current load information;
determining a first flight mileage threshold value of the target unmanned aerial vehicle according to the current remaining electric quantity and the target unit mileage electric consumption;
generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter, wherein the generating comprises:
and generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter.
Optionally, the mileage threshold value further includes a second mileage threshold value at which the target drone can fly according to the flight constraint parameter under the condition of full power;
generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter, and further comprising:
if the route track is not successfully generated according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter, generating the route track according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter;
if a route track is successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter, issuing prompt information for instructing to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle;
and issuing prompt information for representing that the current load of the target unmanned aerial vehicle is too large if the air route track is not successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter.
Optionally, the generating a course trajectory of the target drone according to the waypoint location information, the mileage threshold value, and the flight constraint parameter includes:
determining a plurality of route tracks matched with the waypoint position information from pre-stored route tracks;
judging whether a plurality of flight path tracks meet the flight mileage threshold value and the flight constraint parameters or not;
if no air route track meeting the mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, generating an air route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter;
the method further comprises the following steps: and if the plurality of route tracks have route tracks meeting the flight mileage threshold value and the flight constraint parameters, taking the route tracks as the route tracks of the target unmanned aerial vehicle.
Optionally, the mileage threshold value comprises: the target unmanned aerial vehicle can fly according to the flight constraint parameter under the current residual capacity, and the target unmanned aerial vehicle can fly according to the flight constraint parameter under the full capacity;
if no route track meeting the mileage threshold and the flight constraint parameter exists in the route tracks, generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold and the flight constraint parameter, including:
if no air route track meeting the first mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, and no air route track meeting the second mileage threshold value and the flight constraint parameter exists, generating an air route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter;
the method further comprises the following steps:
and if no air route track meeting the first flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks and the air route track meeting the second flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, taking the air route track as the air route track of the target unmanned aerial vehicle, and issuing prompt information for instructing to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle.
Optionally, the method further comprises:
under the condition that the route track of the target unmanned aerial vehicle is successfully generated according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter, the route track of the target unmanned aerial vehicle is stored; and
and issuing the route track to the target unmanned aerial vehicle so that the target unmanned aerial vehicle flies according to the route track.
Optionally, the target drone is a drone for performing a task of delivering an item, the method further comprising:
and issuing the time information of the target unmanned aerial vehicle for completing the distribution task to a terminal of an article receiving party.
Optionally, a corresponding relationship between the load information and a flight constraint parameter is stored in advance, and the determining of the flight constraint parameter includes:
and inquiring the corresponding relation between the load information and the flight constraint parameters, and determining the flight constraint parameters of the target unmanned aerial vehicle corresponding to the current load information.
Optionally, the target drone is multiple, and after generating the route trajectory for each of the target drones, the method further includes:
and aiming at each target unmanned aerial vehicle, adjusting the route track of the target unmanned aerial vehicle according to the current load information of the target unmanned aerial vehicle and the route tracks of other target unmanned aerial vehicles, so that the total power consumption of a plurality of target unmanned aerial vehicles is minimum.
The second aspect of the present disclosure also provides an apparatus for generating a course trajectory, comprising:
the first determining module is used for responding to the received order information and determining waypoint position information of a target unmanned aerial vehicle for implementing a distribution task of the order, current load information and current residual capacity of the target unmanned aerial vehicle;
the second determining module is used for determining a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle according to the current load information and the current residual capacity, wherein the flight constraint parameter is used for constraining the flight state of the target unmanned aerial vehicle;
and the generating module is used for generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the flight mileage threshold and the flight constraint parameters, wherein the route track comprises position coordinates of each waypoint and planning time information of the target unmanned aerial vehicle for reaching each waypoint.
The third aspect of the present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
The fourth aspect of the present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
Through the technical scheme, the flight constraint parameters and the flight mileage threshold value of the target unmanned aerial vehicle are determined according to the current load information and the current residual capacity of the target unmanned aerial vehicle, and the flight constraint parameters and the flight mileage threshold value are considered when the route track is generated, so that the generated route track is matched with the current state of the target unmanned aerial vehicle, the target unmanned aerial vehicle can accurately fly along the generated route track under the condition that the delivered objects are ensured to be delivered to the destination, and the flight safety of the target unmanned aerial vehicle is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure.
FIG. 1 is a flow chart illustrating a method of generating a course trajectory in accordance with an exemplary embodiment.
FIG. 2 is a schematic illustration of a flight path trajectory shown in accordance with an exemplary embodiment.
FIG. 3 is a block diagram illustrating an apparatus for generating a course trajectory in accordance with an exemplary embodiment.
FIG. 4 is a block diagram illustrating an electronic device in accordance with an example embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
As noted in the background, in the related art, the influence of the load condition of the drone on its flight parameters (e.g., flight speed, acceleration, jerk, etc.) is not considered when planning a course trajectory for the drone, thereby causing the drone to not accurately follow the course trajectory. For example, when the items delivered by the drone are heavy, the flying speed of the drone is slow, and the drone does not fly to the spatial position corresponding to the time point at a given time point, so that the drone may collide with other drones in normal flight. Therefore, when the scheme in the related technology is adopted to generate the route track for the unmanned aerial vehicle, the flight safety of the unmanned aerial vehicle can be influenced.
In view of this, the present disclosure provides a method and an apparatus for generating a flight path trajectory, a readable storage medium, and an electronic device, so as to generate a relatively accurate flight path trajectory for an unmanned aerial vehicle, so as to ensure flight safety of the unmanned aerial vehicle.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart illustrating a method of generating a course trajectory in accordance with an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step 101, in response to the received order information, waypoint position information of the target unmanned aerial vehicle for implementing a delivery task of the order, current load information of the target unmanned aerial vehicle, and current remaining capacity are determined.
In an implementation scenario of the present disclosure, a main body executing the above method for generating a route trajectory is a cloud server in remote communication with an unmanned aerial vehicle. After the user successfully issues the order at the terminal side of the user, the unmanned aerial vehicle management system can determine a target unmanned aerial vehicle for implementing a delivery task of the order (namely, delivering an article corresponding to the order, wherein the article can be goods, meal and the like) from the plurality of unmanned aerial vehicles, and sends order information to the cloud server to request the cloud server to generate a route track for implementing the delivery task for the target unmanned aerial vehicle.
In a possible manner of this embodiment, the order information includes related information of the order, a target unmanned aerial vehicle identifier for implementing a delivery task of the order, and a current remaining power of the target unmanned aerial vehicle, so that the cloud server can determine, when receiving the order information, waypoint position information and current load information of the target unmanned aerial vehicle when executing the delivery task from the order information. The current load information may be the weight of the article corresponding to the order, and the waypoint position information at least includes a start point position and an end point position of the target unmanned aerial vehicle, and the end point position is a destination to which the target unmanned aerial vehicle delivers the article. In addition, considering that the target drone needs to fly to a hangar (a place where the drone is parked) to park after the target drone has delivered the order, the waypoint position information may include a hangar position where the target drone is parked, in addition to the start position and the end position.
In another possible manner of this embodiment, the order information does not include waypoint position information of the target unmanned aerial vehicle, current load information of the target unmanned aerial vehicle, and current remaining power, and thus, after receiving the order information, the cloud server issues a request for acquiring waypoint position information of the target unmanned aerial vehicle, current load information of the target unmanned aerial vehicle, and current remaining power to the unmanned aerial vehicle management system and/or the target unmanned aerial vehicle, so as to request for acquiring waypoint position information of the target unmanned aerial vehicle, current load information of the target unmanned aerial vehicle, and current remaining power.
In another implementation scenario of the present disclosure, a main body executing the method for generating a route trajectory is an unmanned aerial vehicle management system. And after receiving the order information, the unmanned aerial vehicle management system generates a route track for implementing the order task for the target unmanned aerial vehicle.
In another implementation scenario of the present disclosure, the main body for executing the method for generating a route trajectory is the drone executing the delivery task, and after receiving the order information, the drone generates a route trajectory for the target drone to implement the delivery task.
It should be noted that the above merely illustrates the main body for executing the method for generating a flight path trajectory, and in practical applications, the main body for executing the method for generating a flight path trajectory may be selected according to actual requirements, and the disclosure is not limited thereto.
It should be noted that the current load information of the target unmanned aerial vehicle may be obtained by weighing each article by the manager before each article to be dispensed is loaded onto the target unmanned aerial vehicle, or may be obtained by weighing each article by the target unmanned aerial vehicle after each article to be dispensed is loaded onto the target unmanned aerial vehicle, which is not specifically limited by the present disclosure. Likewise, the current remaining capacity of the target drone may be measured by the drone management system or the target drone, for which the present disclosure is not particularly limited.
In step 102, a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle are determined according to the current load information and the current remaining capacity, and the flight constraint parameter is used for constraining the flight state of the target unmanned aerial vehicle.
The flight constraint parameters may include flight speed, acceleration, jerk, and the like of the target drone in linear flight and/or circular flight.
In step 103, a route track of the target unmanned aerial vehicle is generated according to the waypoint position information, the mileage threshold value and the flight constraint parameters.
In this disclosure, the waypoint is a four-dimensional waypoint that includes position coordinates of each waypoint including coordinates in three dimensions of longitude, latitude, and altitude, and planned time information for the target drone to reach each waypoint. In addition, in the course track, the flight parameters of the target unmanned aerial vehicle are all less than or equal to the flight constraint parameters, and the flight mileage of the target unmanned aerial vehicle is less than or equal to the flight mileage threshold value when the target unmanned aerial vehicle flies according to the course track.
It should be noted that in the course of generating the route trajectory, the jlt (j erk limited project) algorithm may be adopted to perform the time allocation and the sampling of the position points on the route, and finally, the route trajectory is obtained by the closed-form solution of minimum snap. Wherein the constraint parameters used in the JLT algorithm and the closed form solution of minimum snap are the flight constraint parameters determined in step 102.
Illustratively, FIG. 2 is a schematic illustration of a flight path trajectory shown in accordance with an exemplary embodiment. It is worth noting that the flight path trajectory is not shown in fig. 2 to include the position coordinates of each waypoint and the time information for the target drone to reach each waypoint. In fig. 2, v1 and a1 are velocity constraint and acceleration constraint of linear flight in the flight constraint parameters, respectively, and v2 and a2 are velocity constraint and centripetal acceleration constraint of circular flight in the flight constraint parameters, respectively. For the straight-line flight route segment in fig. 2, a JLT algorithm is adopted for calculation, for the intersection point of two straight-line flight route segments, such as the dotted line in fig. 2, an arc track is adopted for smoothing, and the aircraft passes through the route segment in a circular motion, that is, the generated route track is shown as a black solid line in fig. 2. In fig. 2, in the route segment of the straight flight, the flight speed and acceleration determined according to any two waypoint position coordinates and the time corresponding to the waypoint position coordinates do not exceed v1 and a1, and in the route segment of the circular flight, the speed and centripetal acceleration of the circular flight do not exceed v2 and a 2.
By adopting the technical scheme, the flight constraint parameter and the flight mileage threshold value of the target unmanned aerial vehicle are determined according to the current load information and the current residual capacity of the target unmanned aerial vehicle, and the flight constraint parameter and the flight mileage threshold value are considered when the route track is generated, so that the generated route track is matched with the current state of the target unmanned aerial vehicle, the target unmanned aerial vehicle can accurately fly along the generated route track under the condition that the delivered objects are ensured to be delivered to the destination, and the flight safety of the target unmanned aerial vehicle is improved.
Optionally, a corresponding relationship between the load information and the flight constraint parameter is stored in advance. The specific way for determining the flight constraint parameters in step 102 may be as follows: and inquiring the corresponding relation between the load information and the flight constraint parameters, and determining the flight constraint parameters of the target unmanned aerial vehicle corresponding to the current load information.
In this disclosure, can carry out hierarchical setting to unmanned aerial vehicle's load information, set up unmanned aerial vehicle's flight constraint parameter according to different load grades. Illustratively, a large number of tests of different load conditions are carried out on the existing air route, the flight condition of the unmanned aerial vehicle under each load condition is recorded, the corresponding flight parameters of the unmanned aerial vehicle when the unmanned aerial vehicle flies well under each load condition are determined, the corresponding flight constraint parameters under different levels of load conditions are further generated, namely, the corresponding relation between the load information and the flight constraint parameters is generated, and the corresponding relation is stored, so that the flight constraint parameters of the target unmanned aerial vehicle corresponding to the current load information can be determined according to the corresponding relation between the load information and the flight constraint parameters when the air route track is generated subsequently. For example, the correspondence may be stored in a subject executing the method of generating the airline trajectory, e.g., in a cloud-based out-of-service, drone management system, or drone.
In one embodiment, upon receipt of the order information, a new route trajectory is automatically generated for the target drone.
In one possible approach, the mileage threshold value includes a first mileage threshold value, and the specific way for determining the mileage threshold value in step 102 may be: firstly, determining the target unit mileage power consumption of the target unmanned aerial vehicle in a flight state meeting flight constraint parameters according to the current load information; and then, determining a first flight mileage threshold value of the target unmanned aerial vehicle according to the current remaining power and the target unit mileage power consumption.
For example, the main body executing the method for generating the route trajectory may store in advance a correspondence relationship between the load information and the power consumption per unit mileage, in addition to a correspondence relationship between the load information and the flight constraint parameter. For example, the correspondence relationship between the load information, the flight constraint parameter, and the unit mileage power consumption is stored. Therefore, after the current load information of the target unmanned aerial vehicle is determined, the corresponding relations between the load information and the flight constraint parameters and between the load information and the unit mileage power consumption can be inquired, and the flight constraint parameters and the unit mileage power consumption of the target unmanned aerial vehicle can be respectively determined. And then, determining the ratio of the residual electric quantity to the target unit mileage electric consumption as a first flight mileage threshold value of the target unmanned aerial vehicle.
Correspondingly, the specific implementation manner of generating the route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter in the step 103 is as follows: and generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter. When the target unmanned aerial vehicle flies according to the route track generated in the mode, the flying mileage is smaller than or equal to the first flying mileage threshold value.
In another possible approach, the mileage threshold value further includes a second mileage threshold value at which the target drone can fly according to the flight constraint parameters under the full power condition. And the second flight mileage threshold value is the ratio of the electric quantity of the target unmanned aerial vehicle under the condition of full electric quantity to the electric consumption of the target unit mileage. That is, the second mileage threshold is used to represent the maximum mileage that the target drone can fly according to the flight constraint parameter under the condition of full charge.
Correspondingly, the specific implementation manner of generating the route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter in the step 103 is as follows: if the route track is not successfully generated according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter, generating the route track according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter; if the route track is successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter, issuing prompt information for instructing to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle; and issuing prompt information for representing that the current load of the target unmanned aerial vehicle is too large if the air route track is not successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter.
In this manner, the range threshold includes a first range threshold and a second range threshold. Firstly, generating a course track according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter. And if the route track can be successfully generated, the generated route track is the flight track of the target unmanned aerial vehicle. If the route track cannot be successfully generated, the first mileage threshold value may be smaller, that is, the current remaining power is smaller, at this time, it may be considered to replace a power battery or charge the target unmanned aerial vehicle to increase the available power of the target unmanned aerial vehicle, so that, based on the above consideration, a second mileage threshold value at which the target unmanned aerial vehicle can fly according to the flight constraint parameter under the condition of full power may be predetermined, and the route track may be generated according to the waypoint position information, the second mileage threshold value, and the flight constraint parameter. If the route track can be successfully generated according to the second flight mileage threshold value, issuing prompt information for instructing to replace the power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle so as to improve the available electric quantity of the target unmanned aerial vehicle by replacing the power battery with full electric quantity or by charging. In addition, if the route track is not successfully generated according to the second mileage threshold value, it indicates that the current load of the target unmanned aerial vehicle is too large, and even if the current load is full of electricity, the object cannot be delivered to the destination, so that prompt information for representing that the current load of the target unmanned aerial vehicle is too large can be issued under the condition, so as to prompt a manager to detach the object currently carried by the target unmanned aerial vehicle into multiple parts for multiple times or multiple unmanned aerial vehicle deliveries, so as to reduce the current load of the target unmanned aerial vehicle.
By adopting the technical scheme, when the route track is not successfully generated according to the first flight mileage threshold value, the route track is generated according to the second flight mileage threshold value, so that the route track which is matched with the current load capacity of the target unmanned aerial vehicle can be generated in a self-adaptive manner, and the flexibility of generating the route track by the cloud server is improved. In addition, when the air route track can be successfully generated according to the second flight mileage threshold value, the power battery of the target unmanned aerial vehicle is replaced or the target unmanned aerial vehicle is charged, and useless workload is avoided. And when the route track is not successfully generated according to the second flight mileage threshold value, the manager is reminded to reduce the current load, so that the intelligent degree of generating the route track is improved.
In practical application, the route track can be stored after the cloud server or the unmanned aerial vehicle management system generates the route track for any unmanned aerial vehicle, so that a plurality of route tracks may be stored in the cloud server or the unmanned aerial vehicle management system, and if the route track matched with the current state of the target unmanned aerial vehicle exists in the plurality of route tracks stored in the cloud server or the unmanned aerial vehicle management system, a new route track does not need to be generated for the target unmanned aerial vehicle again in order to reduce workload. Thus, in another embodiment, a course trajectory matching the target drone's flight constraint parameters, range threshold, may be selected from its pre-stored course trajectories.
Illustratively, the specific manner of generating the route track of the target drone according to the waypoint position information, the mileage threshold and the flight constraint parameters in step 103 is as follows.
First, a plurality of route trajectories matching the waypoint location information are determined from the stored route trajectories. The starting point position of each flight of the unmanned aerial vehicle is different, and the end point position may also be different, so that a plurality of route tracks matched with the waypoint position information (at least including the starting point position and the end point position) need to be screened out according to the waypoint position information of the target unmanned aerial vehicle. The matching here may be understood as that the starting point position of the route track is consistent with the starting point position of the target unmanned aerial vehicle, and the ending point position of the route track is consistent with the ending point position of the target unmanned aerial vehicle, and may also be understood as that the starting point position and the ending point position of the target unmanned aerial vehicle are located in the route track, which is not specifically limited in this disclosure.
Then, whether a flight path track meeting the flight mileage threshold value and the flight constraint parameters exists in the plurality of flight path tracks or not is judged. The course track meeting the mileage threshold and the flight constraint parameters means that parameters such as the flight speed and the acceleration of the unmanned aerial vehicle are respectively less than or equal to a speed constraint value and an acceleration constraint value when the unmanned aerial vehicle flies according to the course track, and the mileage is less than or equal to the mileage threshold.
And if judging that no air route track meeting the flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, generating the air route track of the target unmanned aerial vehicle according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter.
Correspondingly, if the air route track meeting the flight mileage threshold value and the flight constraint parameters exists in the plurality of air route tracks, the air route track is used as the air route track of the target unmanned aerial vehicle.
Illustratively, the mileage threshold value includes a first mileage threshold value and a second mileage threshold value, and if no route track satisfying the first mileage threshold value and the flight constraint parameter exists in the plurality of route tracks, and no route track satisfying the second mileage threshold value and the flight constraint parameter exists, the route track of the target unmanned aerial vehicle is generated according to the waypoint position information, the mileage threshold value and the flight constraint parameter. The route trajectory may be generated in the manner of generating the route trajectory of the target unmanned aerial vehicle, which is not described herein again.
In addition, if no air route track meeting the first flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, and an air route track meeting the second flight mileage threshold value and the flight constraint parameter exists, the air route track is used as the air route track of the target unmanned aerial vehicle, and prompt information used for instructing the target unmanned aerial vehicle to replace a power battery or charge the target unmanned aerial vehicle is issued.
By adopting the technical scheme, if the pre-stored flight path tracks matched with the waypoint position information have the flight path tracks meeting the flight mileage threshold and the flight constraint parameters, the flight path tracks are directly determined as the flight path tracks of the target unmanned aerial vehicle, the flight path tracks do not need to be regenerated, the workload is reduced, and the efficiency of generating the flight path tracks is improved.
In addition, in the case that the course trajectory of the target drone is successfully generated according to the waypoint location information, the mileage threshold value, and the flight constraint parameter, the generated course trajectory may be stored. Illustratively, waypoint location information may be stored in association with flight constraint parameters, a range threshold, used to generate the course trajectory.
And under the condition that the route track of the target unmanned aerial vehicle is successfully generated according to the waypoint position information, the flight mileage threshold value and the flight constraint parameters, the route track can be issued to the target unmanned aerial vehicle so that the target unmanned aerial vehicle flies according to the route track.
In the case where the target drone is a drone for performing a task of delivering items, the method of generating a course trajectory may further include: and sending time information of the target unmanned aerial vehicle for completing the distribution task to the terminal of the article receiving party.
For example, the generated route track is matched with the current load information and the mileage threshold of the target unmanned aerial vehicle, so that the target unmanned aerial vehicle can accurately follow the route track when flying, that is, the time when the target unmanned aerial vehicle completes the delivery task is the time when the target unmanned aerial vehicle reaches the destination, which is included in the route track, therefore, after the route track of the target unmanned aerial vehicle is generated, the time information when the target unmanned aerial vehicle completes the delivery task can be issued to the terminal of the article receiving party, so that the article receiving party can timely take the article.
In addition, in the case that there are multiple target drones, a route trajectory may be generated for each target drone according to the method for generating a route trajectory described above. However, in general, the route trajectories of multiple target drones may intersect, and at this time, in order to avoid collision of the drones, it may be necessary to synthesize the route trajectories of the multiple target drones to adjust the route trajectory of each target drone.
For example, after generating the route track for each target drone, the route track of the target drone is adjusted according to the current load information of the target drone and the route tracks of other target drones, so as to minimize the total power consumption of the multiple target drones.
For example, for a target unmanned aerial vehicle with a large load, when the route track of the target unmanned aerial vehicle crosses the route track of the target unmanned aerial vehicle with a small load, the target unmanned aerial vehicle with a large load can preferentially pass through the crossing position, or the route track of the target unmanned aerial vehicle with a large load is adjusted, so that the mileage of the route track is small, or the flight height of the target unmanned aerial vehicle with a large load is adjusted, so that the power consumption of the target unmanned aerial vehicle with a large load is small, and the like. Therefore, the purpose of minimizing the total power consumption of the multi-target unmanned aerial vehicle is achieved.
Based on the same inventive concept, the disclosure also provides a device for generating the route track. FIG. 3 is a block diagram illustrating an apparatus for generating a course trajectory in accordance with an exemplary embodiment. As shown in FIG. 3, the apparatus 300 for generating a flight path trajectory may include a first determining module 301, a second determining module 302, and a generating module 303.
A first determining module 301, configured to determine, in response to received order information, waypoint position information of a target unmanned aerial vehicle for implementing a delivery task of the order, current load information of the target unmanned aerial vehicle, and a current remaining power;
a second determining module 302, configured to determine, according to the current load information and the current remaining power, a mileage threshold and a flight constraint parameter of the target unmanned aerial vehicle, where the flight constraint parameter is used to constrain a flight state of the target unmanned aerial vehicle;
a generating module 303, configured to generate a route track of the target drone according to the waypoint position information, the mileage threshold, and the flight constraint parameter, where the route track includes position coordinates of each waypoint and planning time information for the target drone to reach each waypoint.
Optionally, the determination of the mileage threshold value comprises:
determining the target unit mileage power consumption of the target unmanned aerial vehicle in the flight state meeting the flight constraint parameters according to the current load information;
determining a first flight mileage threshold value of the target unmanned aerial vehicle according to the current remaining electric quantity and the target unit mileage electric consumption;
the generating module 303 is configured to: and generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter.
Optionally, the mileage threshold value further includes a second mileage threshold value at which the target drone can fly according to the flight constraint parameter under the condition of full power; the generating module 303 may include:
the first generation submodule is used for generating a route track according to the waypoint position information, the second mileage threshold value and the flight constraint parameter if the route track is not successfully generated according to the waypoint position information, the first mileage threshold value and the flight constraint parameter;
the first sending submodule is used for sending prompt information for indicating to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle if a flight path track is successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter;
and the second sending submodule is used for issuing prompt information for representing that the current load of the target unmanned aerial vehicle is overlarge if the route track is not successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter.
Optionally, the generating module 303 may include:
the first determining submodule is used for determining a plurality of route tracks matched with the waypoint position information from pre-stored route tracks;
the judging submodule is used for judging whether a plurality of flight path tracks have flight path tracks meeting the flight mileage threshold and the flight constraint parameters;
a second generation submodule, configured to generate a course track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold, and the flight constraint parameter if there is no course track that satisfies the mileage threshold and the flight constraint parameter in the plurality of course tracks;
the apparatus may further include:
and the third determining module is used for taking the air route track as the air route track of the target unmanned aerial vehicle if the air route track meeting the flight mileage threshold and the flight constraint parameters exists in the air route tracks.
Optionally, the mileage threshold value comprises: the target unmanned aerial vehicle can fly according to the flight constraint parameter under the current residual capacity, and the target unmanned aerial vehicle can fly according to the flight constraint parameter under the full capacity;
the second generation submodule is configured to: if no air route track meeting the first mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, and no air route track meeting the second mileage threshold value and the flight constraint parameter exists, generating an air route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter;
the device further comprises:
and the fourth determining module is used for taking the air route track as the air route track of the target unmanned aerial vehicle and issuing prompt information for indicating to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle if the air route track meeting the first flight mileage threshold value and the flight constraint parameter does not exist in the plurality of air route tracks and the air route track meeting the second flight mileage threshold value and the flight constraint parameter exists.
Optionally, the apparatus further comprises:
the storage module is used for storing the route track of the target unmanned aerial vehicle under the condition that the route track of the target unmanned aerial vehicle is successfully generated according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter; and
and the first sending module is used for issuing the route track to the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to fly according to the route track.
Optionally, the target drone is a drone for performing a task of delivering an item, the apparatus further comprising:
and the second sending module is used for sending the time information of the target unmanned aerial vehicle for completing the distribution task to the terminal of the article receiving party.
Optionally, a corresponding relationship between the load information and a flight constraint parameter is stored in advance, and the determining of the flight constraint parameter includes:
and inquiring the corresponding relation between the load information and the flight constraint parameters, and determining the flight constraint parameters of the target unmanned aerial vehicle corresponding to the current load information.
Optionally, the target drone is multi-chassis, the apparatus further comprising:
and the adjusting module is used for adjusting the route track of the target unmanned aerial vehicle according to the current load information of the target unmanned aerial vehicle and the route tracks of other target unmanned aerial vehicles, so that the total power consumption of a plurality of target unmanned aerial vehicles is minimum.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
FIG. 4 is a block diagram illustrating an electronic device in accordance with an example embodiment. As shown in fig. 4, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-described method for generating a flight path trajectory. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or 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 Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of generating lane traces.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of generating a course trajectory is also provided. For example, the computer readable storage medium may be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to perform the method of generating a course trajectory described above.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 5, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the method of generating a course trajectory described above.
Additionally, electronic device 1900 may also include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1900. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932TM，Mac OS XTM，UnixTM，LinuxTMAnd so on.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of generating a course trajectory is also provided. For example, the computer readable storage medium may be the memory 1932 described above that includes program instructions executable by the processor 1922 of the electronic device 1900 to perform the method of generating a flight path trajectory described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of generating a course trajectory when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of generating a course trajectory, comprising:
determining waypoint position information of a target unmanned aerial vehicle for implementing a delivery task of the order, current load information and current remaining capacity of the target unmanned aerial vehicle in response to the received order information;
determining a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle according to the current load information and the current residual capacity, wherein the flight constraint parameter is used for constraining the flight state of the target unmanned aerial vehicle;
generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter, wherein the route track comprises position coordinates of each waypoint and planning time information of the target unmanned aerial vehicle for reaching each waypoint;
the determination of the mileage threshold value comprises:
determining the target unit mileage power consumption of the target unmanned aerial vehicle in the flight state meeting the flight constraint parameters according to the current load information;
determining a first flight mileage threshold value of the target unmanned aerial vehicle according to the current remaining electric quantity and the target unit mileage electric consumption;
generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter, wherein the generating comprises:
generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter;
the flight mileage threshold value also comprises a second flight mileage threshold value which can fly by the target unmanned aerial vehicle according to the flight constraint parameters under the condition of full electric quantity; generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter, and further comprising:
if the route track is not successfully generated according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter, generating the route track according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter;
if a route track is successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter, issuing prompt information for instructing to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle;
and issuing prompt information for representing that the current load of the target unmanned aerial vehicle is too large if the air route track is not successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter.
2. The method of claim 1, wherein generating a course trajectory for the target drone based on the waypoint location information, the mileage threshold and the flight constraint parameters comprises:
determining a plurality of route tracks matched with the waypoint position information from pre-stored route tracks;
judging whether a plurality of flight path tracks meet the flight mileage threshold value and the flight constraint parameters or not;
if no air route track meeting the mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, generating an air route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter;
the method further comprises the following steps: and if the plurality of route tracks have route tracks meeting the flight mileage threshold value and the flight constraint parameters, taking the route tracks as the route tracks of the target unmanned aerial vehicle.
3. The method of claim 2, wherein the range threshold comprises: the target unmanned aerial vehicle can fly according to the flight constraint parameter under the current residual capacity, and the target unmanned aerial vehicle can fly according to the flight constraint parameter under the full capacity;
if no route track meeting the mileage threshold and the flight constraint parameter exists in the route tracks, generating a route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold and the flight constraint parameter, including:
if no air route track meeting the first mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, and no air route track meeting the second mileage threshold value and the flight constraint parameter exists, generating an air route track of the target unmanned aerial vehicle according to the waypoint position information, the mileage threshold value and the flight constraint parameter;
the method further comprises the following steps:
and if no air route track meeting the first flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks and the air route track meeting the second flight mileage threshold value and the flight constraint parameter exists in the plurality of air route tracks, taking the air route track as the air route track of the target unmanned aerial vehicle, and issuing prompt information for instructing to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle.
4. The method according to any one of claims 1-3, further comprising:
under the condition that the route track of the target unmanned aerial vehicle is successfully generated according to the waypoint position information, the flight mileage threshold value and the flight constraint parameter, the route track of the target unmanned aerial vehicle is stored; and
and issuing the route track to the target unmanned aerial vehicle so that the target unmanned aerial vehicle flies according to the route track.
5. The method of any of claims 1-3, wherein the target drone is a drone for performing a task of delivering items, the method further comprising:
and issuing the time information of the target unmanned aerial vehicle for completing the distribution task to a terminal of an article receiving party.
6. The method according to any one of claims 1 to 3, characterized in that a correspondence between load information and flight constraint parameters is prestored, and the determination of the flight constraint parameters comprises:
and inquiring the corresponding relation between the load information and the flight constraint parameters, and determining the flight constraint parameters of the target unmanned aerial vehicle corresponding to the current load information.
7. The method of any of claims 1-3, wherein the target drone is multi-pod, and after generating a course trajectory for each of the target drones, the method further comprises:
and aiming at each target unmanned aerial vehicle, adjusting the route track of the target unmanned aerial vehicle according to the current load information of the target unmanned aerial vehicle and the route tracks of other target unmanned aerial vehicles, so that the total power consumption of a plurality of target unmanned aerial vehicles is minimum.
8. An apparatus for generating a course trajectory, comprising:
the first determining module is used for responding to the received order information and determining waypoint position information of a target unmanned aerial vehicle for implementing a distribution task of the order, current load information and current residual capacity of the target unmanned aerial vehicle;
the second determining module is used for determining a flight mileage threshold value and a flight constraint parameter of the target unmanned aerial vehicle according to the current load information and the current residual capacity, wherein the flight constraint parameter is used for constraining the flight state of the target unmanned aerial vehicle;
a generating module, configured to generate a route track of the target drone according to the waypoint position information, the mileage threshold, and the flight constraint parameter, where the route track includes position coordinates of each waypoint and planning time information for the target drone to reach each waypoint;
the determination of the mileage threshold value comprises:
determining the target unit mileage power consumption of the target unmanned aerial vehicle in the flight state meeting the flight constraint parameters according to the current load information;
determining a first flight mileage threshold value of the target unmanned aerial vehicle according to the current remaining electric quantity and the target unit mileage electric consumption;
the generation module is configured to: generating a course track of the target unmanned aerial vehicle according to the waypoint position information, the first flight mileage threshold value and the flight constraint parameter;
the flight mileage threshold value also comprises a second flight mileage threshold value which can fly by the target unmanned aerial vehicle according to the flight constraint parameters under the condition of full electric quantity; the generation module comprises:
the first generation submodule is used for generating a route track according to the waypoint position information, the second mileage threshold value and the flight constraint parameter if the route track is not successfully generated according to the waypoint position information, the first mileage threshold value and the flight constraint parameter;
the first sending submodule is used for sending prompt information for indicating to replace a power battery for the target unmanned aerial vehicle or charge the target unmanned aerial vehicle if a flight path track is successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter;
and the second sending submodule is used for issuing prompt information for representing that the current load of the target unmanned aerial vehicle is overlarge if the route track is not successfully generated according to the waypoint position information, the second flight mileage threshold value and the flight constraint parameter.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
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