TWI851198B - Electronic device and method for managing task of unmanned vehicle - Google Patents

Abstract

An electronic device and a method for managing task of an unmanned vehicle are provided. The method includes the following steps: issuing, by a status management subsystem, a navigation-task-status-message-queue-service corresponding to a navigation task, and issuing a patrol-task-status-message-queue-service corresponding to a patrol task, wherein the navigation task and the patrol task are associated with an unmanned vehicle, and the unmanned vehicle includes a peripheral device; issuing, by the status management subsystem, a peripheral-device-message-queue-service corresponding to the peripheral device, and using, by a central control center subsystem, the peripheral-device-message-queue-service to classify the patrol task as an independent patrol task or a parallel patrol task; and using, by a task management subsystem, the navigation-task-status-message-queue-service, the patrol-task-status-message-queue-service, and the peripheral-device-message-queue-service to perform the navigation task and the patrol task.

Description

Electronic device and method for managing missions of unmanned vehicles

The present invention relates to an electronic device and method for managing the mission of an unmanned vehicle.

Currently, the application scenarios of unmanned vehicles usually include multiple tasks. In particular, some tasks can be executed in parallel, and some tasks only need to be executed at specific mission locations. How to improve the efficiency of execution/switching between tasks is indeed a topic that technical personnel in this field should work on.

The present invention provides an electronic device and method for managing the mission of an unmanned vehicle, which can improve the efficiency of the unmanned vehicle in performing the mission.

The electronic device for managing the tasks of the unmanned vehicle of the present invention includes a central control center subsystem, a state management subsystem and a task management subsystem. The state management subsystem publishes a navigation task state message queue service corresponding to the navigation task, and publishes an inspection task state message queue service corresponding to the inspection task, wherein the navigation task and the inspection task are associated with the unmanned vehicle, and the unmanned vehicle includes peripheral devices. The state management subsystem publishes a peripheral device message queue service corresponding to the peripheral device, and the central control center subsystem uses the peripheral device message queue service to classify the inspection task into an independent inspection task or a parallel inspection task. The task management subsystem uses the navigation task status message queue service, the inspection task status message queue service, and the peripheral device message queue service to execute the navigation task and the inspection task.

The method for managing the tasks of an unmanned vehicle of the present invention comprises the following steps: a state management subsystem publishes a navigation task state message queue service corresponding to a navigation task, and publishes an inspection task state message queue service corresponding to an inspection task, wherein the navigation task and the inspection task are associated with the unmanned vehicle, and the unmanned vehicle includes a peripheral device; the state management subsystem publishes a state message queue service corresponding to the navigation task, and publishes a state message queue service corresponding to the inspection task. The peripheral device message queue service of the peripheral device is used by the central control center subsystem to classify the inspection tasks into independent inspection tasks or parallel inspection tasks; and the task management subsystem uses the navigation task status message queue service, the inspection task status message queue service and the peripheral device message queue service to execute the navigation task and the inspection task.

FIG1 is a schematic diagram of an electronic device 1 for managing the mission of an unmanned vehicle according to an embodiment of the present invention. The electronic device 1 may include a central control center subsystem 10, a state management subsystem 20, and a mission management subsystem 30. In detail, the central control center subsystem 10 may include a mission state monitoring module 11, a control right switching module 12, a parallel inspection mission management module 13, a mission receiving and state feedback module 14, and an RTK GPS module 15. The state management subsystem 20 may include an inspection mission state module 21, a navigation mission state module 22, a peripheral device state module 23, and a parallel inspection mission state module 24. The mission management subsystem 30 may include an inspection mission display module 31 and a navigation mission display module 32. The functions of these subsystems and modules will be further described in the following embodiments. In this embodiment, the electronic device 1 can be operated on an unmanned vehicle.

It should be noted that the electronic device 1 may include necessary components such as a transceiver (not shown in the figure), a storage medium (not shown in the figure), and a processor (not shown in the figure).

The transceiver can be a component that supports signal transmission for Global System for Mobile communication (GSM), Personal Handy-phone System (PHS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), Worldwide interoperability for Microwave Access (WiMAX), Wireless Fidelity (Wi-Fi), 5th Generation Mobile Network (5G), or Bluetooth.

The storage medium may be any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory, hard disk drive (HDD), solid state drive (SSD) or similar components or a combination of the above components.

The processor may be a central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessor, microcontroller unit (MCU), digital signal processor (DSP), programmable controller, application specific integrated circuit (ASIC), or other similar components or a combination of the above components.

In one embodiment, each subsystem and each module shown in FIG1 may be software and/or firmware code executed by a processor of the electronic device 1. In another embodiment, each subsystem and each module shown in FIG1 may be implemented as a circuit. The present invention does not limit the implementation method of each subsystem and each module shown in FIG1.

FIG2 is an operation flow chart of the electronic device 1 shown in FIG1. Please refer to FIG1 and FIG2 at the same time.

In step S101, the mission receiving and status feedback module 14 can receive the mission from the mission dispatcher device, and the RTK GPS module 15 can receive the mission RTK GPS information corresponding to the mission. In detail, the transceiver of the electronic device 1 can be communicatively connected to the mission dispatcher device. The mission receiving and status feedback module 14 can receive the mission from the mission dispatcher device through the transceiver of the electronic device 1. On the other hand, the RTK GPS module 15 is a module that receives the unmanned vehicle position (longitude, latitude and altitude) given by the satellite and receives multiple mission point positions. In other words, the present invention can use a self-made human-machine interface (i.e., RTK GPS module 15) to connect to an external RTK GPS receiving device and receive satellite information from the RTK GPS receiving device to provide the position of the unmanned vehicle, the position and sequence of the mission point, so that the unmanned vehicle can calculate the distance between itself and the mission point and go to the location specified by the mission dispatcher to perform the mission.

FIG3 is a schematic diagram of a task according to an embodiment of the present invention. Please refer to FIG1 to FIG3 at the same time. In this embodiment, the tasks received by the task receiving and status feedback module 14 from the task dispatcher device may include "guidance task", "manhole cover detection task", "photographing task" and "pedestrian detection task".

FIG4 is a schematic diagram of an RTK GPS module 15 receiving mission RTK GPS information according to an embodiment of the present invention. FIG5 is a schematic diagram of mission RTK GPS information of each mission according to an embodiment of the present invention. Please refer to FIG1 to FIG5 at the same time. As shown in FIG4, the unmanned vehicle can operate the electronic device 1, and the RTK GPS module 15 of the electronic device 1 can be communicatively connected to the RTK GPS receiving device, and the RTK GPS module 15 can receive satellite information via this external RTK GPS receiving device to obtain the position of the unmanned vehicle and the mission RTK GPS information of each mission in FIG3. Further, as shown in FIG5, the "guidance mission", "manhole cover detection mission", "photography mission" and "pedestrian detection mission" can correspond to different mission RTK GPS information respectively.

Please return to Figure 2. In step S102, the state management subsystem 20 can use the mission RTK GPS information to classify the mission into a navigation mission or an inspection mission. In this embodiment, the navigation mission and the inspection mission can be associated with the unmanned vehicle. In detail, when the mission RTK GPS information (corresponding to a specific mission) includes a point, the state management subsystem 20 can classify the mission as a navigation mission. On the other hand, when the mission RTK GPS information (corresponding to a specific mission) does not include a point, the state management subsystem 20 can classify the mission as an inspection mission. In this assumption, the task RTK GPS information of the "guidance task" in FIG3 includes a point, and the task RTK GPS information of the "manhole cover detection task" does not include a point, and the task RTK GPS information of the "photographing task" does not include a point, and the task RTK GPS information of the "pedestrian detection task" does not include a point. Based on this, the state management subsystem 20 can classify the "guidance task" as a navigation task. On the other hand, the state management subsystem 20 can classify the "manhole cover detection task", the "photographing task" and the "pedestrian detection task" as inspection tasks.

After classifying the task as a navigation task or an inspection task, the state management subsystem 20 may publish a navigation task state message queue service corresponding to the navigation task, and the state management subsystem 20 may publish an inspection task state message queue service corresponding to the inspection task. Further, the state management subsystem 20 may require the navigation task to subscribe to the inspection task state message queue service. On the other hand, the state management subsystem 20 may require the inspection task to subscribe to the navigation task state message queue service and the inspection task state message queue service.

In step S103, the state management subsystem 20 may publish a peripheral device message queue service corresponding to the peripheral device, and the central control center subsystem 10 may use the peripheral device message queue service to classify the inspection task into an independent inspection task or a parallel inspection task. In this embodiment, the unmanned vehicle may include a peripheral device. The following will be described.

FIG6 is a schematic diagram of a peripheral device and a peripheral device message queuing service according to an embodiment of the present invention. Please refer to FIG1, FIG2, FIG3 and FIG6 at the same time. As shown in FIG6, the peripheral devices of the unmanned vehicle may include "camera 1", "camera 2", "lidar" and "chassis". The peripheral device status module 23 may obtain the peripheral device status of the peripheral device, wherein the peripheral device status indicates whether the peripheral device is an independent peripheral device or a shared peripheral device. As shown in Figure 6, the peripheral device status of the peripheral device "camera 1" may indicate that the peripheral device "camera 1" is a shared peripheral device, the peripheral device status of the peripheral device "camera 2" may indicate that the peripheral device "camera 2" is a shared peripheral device, the peripheral device status of the peripheral device "lidar" may indicate that the peripheral device "lidar" is a shared peripheral device, and the peripheral device status of the peripheral device "chassis" may indicate that the peripheral device "chassis" is an independent peripheral device.

After the peripheral device state module 23 obtains the peripheral device state of the peripheral device, the peripheral device state module 23 may publish a peripheral device message queue service corresponding to the peripheral device, and request the inspection task to subscribe to the peripheral device message queue service, wherein the inspection task subscribes to the subscribed peripheral device message queue service in the peripheral device message queue service, wherein the peripheral device includes the subscribed peripheral device corresponding to the inspection task, and the subscribed peripheral device message queue service corresponds to the subscribed peripheral device. When the subscribed peripheral device includes an independent peripheral device, the control right switching module 12 may classify the inspection task as an independent inspection task. On the other hand, when the subscribed peripheral devices do not include independent peripheral devices, the control right switching module 12 can classify the inspection tasks into parallel inspection tasks. It is worth noting that in the present embodiment, the control right switching module 12 is used to monitor the control right status of the peripheral devices and switch the control right of the peripheral devices. In detail, the control right switching module 12 can receive the control right information of the peripheral devices used by the task being executed, and monitor the usage status of the peripheral devices of the task currently being executed by the task management subsystem 30. These control right states are used to avoid tasks from competing with each other for peripheral devices, so as to further avoid errors or task failures in the inspection tasks. More specifically, when the independent inspection task is switched (when the independent inspection task is completed), the control of the independent peripheral device can be handed over.

For example, as shown in FIG6 , the peripheral device message queue service published by the peripheral device status module 23 may include four peripheral device message queue services, namely, the peripheral device message queue service “Camera 1 Message Queue Service” corresponding to the peripheral device “Camera 2”, the peripheral device message queue service “Camera 2 Message Queue Service” corresponding to the peripheral device “Lidar”, and the peripheral device message queue service “Chassis Message Queue Service” corresponding to the peripheral device “Chassis”. Then, the peripheral device status module 23 may request the inspection tasks (i.e., "manhole cover detection task", "photography task", and "pedestrian detection task") to subscribe to the four peripheral device message queue services. Similarly, the peripheral device status module 23 may also request the navigation task (i.e., "guidance task") to subscribe to the four peripheral device message queue services.

As shown in Figure 6, it is assumed that the subscribed peripheral device message queue services of the inspection task "manhole cover detection task" are "camera 1 message queue service" and "camera 2 message queue service" (that is, the subscribed peripheral devices of the inspection task "manhole cover detection task" are "camera 1" and "camera 2"), since the subscribed peripheral devices "camera 1" and "camera 2" of the inspection task "manhole cover detection task" do not include independent peripheral devices, the peripheral device status module 23 can classify the inspection task "manhole cover detection task" as a parallel inspection task. For another example, as shown in FIG6 , the subscribed peripheral device message queue services of the inspection task “photographing task” are “camera 1 message queue service”, “camera 2 message queue service”, and “chassis message queue service”. Since the subscribed peripheral devices “camera 1”, “camera 2”, and “chassis” of the inspection task “photographing task” include the independent peripheral device “chassis”, the peripheral device status module 23 can classify the inspection task “photographing task” as an independent inspection task. It is worth mentioning that the subscribed peripheral devices of the navigation task “guidance task” include the independent peripheral devices, so the navigation task “guidance task” will be classified as an independent task.

Furthermore, the parallel inspection task status module 24 can publish a parallel inspection task status message queue service associated with the parallel inspection task, and require the parallel inspection task to subscribe to the parallel inspection task status message queue service. In addition, the parallel inspection task management module 13 can publish a parallel inspection task location associated with the parallel inspection task to the parallel inspection task status message queue service. In detail, the parallel inspection task management module 13 can receive a parallel inspection task location associated with the parallel inspection task from a task dispatcher device, and publish the parallel inspection task location to the parallel inspection task status message queue service. It is worth noting that the present invention can be based on the message queue service, so that the parallel inspection task status module 24 publishes the execution status message of each parallel inspection task to the parallel inspection task status message queue service to allow the parallel inspection task to subscribe. When the unmanned vehicle arrives at the location/area for executing the parallel inspection task, the parallel inspection task management module 13 publishes the parallel inspection task location to allow the parallel inspection task to be executed, so it will not affect the navigation task or inspection task currently being executed.

After completing the above-mentioned operations of classifying tasks and publishing/subscribing to each message queue service, the task management subsystem 30 can then use the navigation task status message queue service, the inspection task status message queue service, and the peripheral device message queue service to execute the navigation task and the inspection task. In detail, the state management subsystem 20 can receive the state of the navigation task from the navigation task status message queue service, the state of the inspection task from the inspection task status message queue service, and the state of the parallel inspection task and the parallel inspection task location from the parallel inspection task status message queue service. The following will be further explained.

Please go back to Figure 2. In step S104, the task management subsystem 30 can execute the navigation task, and the navigation task can set the status of the task. According to the above embodiment, the task management subsystem 30 can prioritize the execution of the navigation task "guidance task", and can also execute parallel inspection tasks (i.e., the inspection task "manhole cover detection task" and the inspection task "pedestrian detection task") at the same time. In this embodiment, the task management subsystem 30 can hand over the control of the peripheral device to the navigation task "guidance task" to allow the unmanned vehicle to go to the first task point. At this time, the navigation task "guidance task" will set the status of the navigation task in the navigation task status message queue service to the navigating state. In other words, after the navigation task "guidance task" starts to execute, the state of the navigation task received by the navigation task status module 22 from the navigation task status message queue service is the navigation state. On the other hand, the state of the inspection task in the inspection task status message queue service can be preset to the non-inspection state. Furthermore, the task status monitoring module 11 can monitor the navigation task status message queue service so that the independent inspection task will not compete with the executing navigation task for the control of the peripheral device.

FIG7 is a schematic diagram of executing a mission according to an embodiment of the present invention. Please refer to FIG1, FIG2, FIG6 and FIG7 simultaneously. As shown in FIG7, the unmanned vehicle can go to the first mission point after receiving the mission, and can preferentially execute the navigation mission "guidance mission". As described in the aforementioned embodiments, the inspection task "manhole cover detection task" and the inspection task "pedestrian detection task" are parallel inspection tasks. Therefore, the inspection task "manhole cover detection task" and the inspection task "pedestrian detection task" can be performed during the execution of the navigation task "guidance task" according to the parallel inspection task location (or area) expected by the task dispatcher, thereby achieving adaptive inspection task execution. On the other hand, since the inspection task "photographing task" is an independent inspection task, and the state of the navigation task in the navigation task status message queue service has been set to the navigation state, in order not to compete with the currently executing navigation task "guidance task" for peripheral devices, the task management subsystem 30 will not execute the inspection task "photographing task".

Please return to Figure 2. In step S105, the mission management subsystem 30 can complete the navigation mission, and the navigation mission can set the mission status. According to the above embodiment, after the unmanned vehicle reaches the first mission point, the navigation mission "guidance mission" will set the status of the navigation mission in the navigation mission status message queue service to a non-navigation state. In other words, after the navigation mission "guidance mission" is executed, the status of the navigation mission received by the navigation mission status module 22 from the navigation mission status message queue service is a non-navigation state. Then, the central control center subsystem 10 can notify the independent inspection tasks that have not yet been executed so that the independent inspection tasks can obtain control rights, and the task management subsystem 30 can execute the (waiting) independent inspection tasks in sequence according to the preset order.

In step S106, the task management subsystem 30 can execute the independent inspection task, and the independent inspection task can set the state of the inspection task in the inspection task state message queue service to the inspection-in-progress state. In other words, after the independent inspection task starts to execute, the state of the inspection task received by the inspection task state module 21 from the inspection task state message queue service is the inspection-in-progress state. Furthermore, the task state monitoring module 11 can monitor the inspection task state message queue service so that the independent inspection task will not compete with the currently executed parallel inspection task for the control of the peripheral devices.

As described in the above embodiments, the task status monitoring module 11 can monitor the status of the navigation task in the navigation task status message queue service, and can monitor the status of the inspection task in the inspection task status message queue service. In addition, the task status monitoring module 11 can notify each waiting task according to the monitored status (i.e., the status of the task currently being executed). In this way, conflicts between tasks can be avoided. In other words, the present invention utilizes the message queue service to present the status of the navigation task and the inspection task in the form of subscription message notifications, and publishes subscription messages to inform other tasks of the current status and which task has the control, so that the navigation task and the inspection task will not affect each other when they are executed.

FIG8 is a schematic diagram of executing a task according to another embodiment of the present invention. Please refer to FIG1, FIG2, FIG6, FIG7 and FIG8 at the same time. As shown in FIG8, after the unmanned vehicle reaches the first task point and the independent inspection task "photographing task" starts to execute, the independent inspection task "photographing task" can set the status of the inspection task in the inspection task status message queue service to the inspection status. Furthermore, parallel inspection tasks (i.e., the inspection task "manhole cover detection task" and the inspection task "pedestrian detection task") can continue to execute without affecting the control switching process.

Please return to Figure 2. In step S107, the task management subsystem 30 can complete the independent inspection task, and the independent inspection task can set the status of the inspection task in the inspection task status message queue service to a non-inspection state, and if there is a next task point, return to step S104. In other words, after the independent inspection task is executed, the status of the inspection task received by the inspection task status module 21 from the inspection task status message queue service is a non-inspection state. In detail, in this embodiment, after the independent inspection task "photographing task" is executed, the independent inspection task "photographing task" can set the status of the inspection task in the inspection task status message queue service to a non-inspection state. Then, if the mission status monitoring module 11 determines that there is a next mission point, it can return to step S104. On the other hand, if the mission status monitoring module 11 determines that there is no next mission point, the mission of the unmanned vehicle has been completed. Then, the mission receiving and status feedback module 14 can transmit the mission result corresponding to the mission to the mission dispatcher device.

In other embodiments, during the execution of steps S104 to S107 in FIG. 2 , the inspection task display module 31 may display the inspection task, and the navigation task display module 32 may display the navigation task. Specifically, the electronic device 1 may include a display device. The inspection task display module 31 may display the inspection task through the display device of the electronic device 1, and the navigation task display module 32 may display the navigation task through the display device of the electronic device 1.

FIG9 is a schematic diagram of executing a task according to another embodiment of the present invention. Steps S1 to S11 shown in FIG9 are similar in concept to the aforementioned embodiment and will not be described in detail herein. It is worth noting that step S4 can be executed repeatedly. In other words, since the inspection task subscribes to the navigation task status message queue service, the inspection task can (repeatedly) learn the status of the navigation task from the navigation task status message queue service. Similarly, step S8 can be executed repeatedly. In other words, since the navigation task subscribes to the inspection task status message queue service, the navigation task can (repeatedly) learn the status of the inspection task from the inspection task status message queue service.

FIG10 is a flow chart of a method for managing tasks of an unmanned vehicle according to an embodiment of the present invention, wherein the method can be implemented by the electronic device 1 shown in FIG1 . In step S31, the state management subsystem publishes a navigation task state message queue service corresponding to the navigation task, and publishes an inspection task state message queue service corresponding to the inspection task, wherein the navigation task and the inspection task are associated with the unmanned vehicle, and the unmanned vehicle includes a peripheral device. In step S32, the state management subsystem publishes a peripheral device message queue service corresponding to the peripheral device, and the central control center subsystem uses the peripheral device message queue service to classify the inspection task into an independent inspection task or a parallel inspection task. In step S33, the task management subsystem uses the navigation task status message queue service, the inspection task status message queue service and the peripheral device message queue service to execute the navigation task and the inspection task. The steps in FIG10 have been described in the above embodiment and will not be repeated here.

In summary, the electronic device and method for managing the tasks of the unmanned vehicle of the present invention can utilize the navigation task status message queue service, the inspection task status message queue service, and the peripheral device message queue service to execute the tasks. In other words, based on these message queue services, the status of the task and/or the status of the peripheral device can be notified to each task in the form of a subscription notification. In addition, the parallel inspection task location where the parallel inspection task is executed can also be notified to each parallel inspection task in the form of a subscription notification, so that each parallel inspection task can be executed at the location/area specified by the task dispatcher. In other words, the peripheral devices of the unmanned vehicle can be turned on only when executing the task, thereby saving the power of the unmanned vehicle. Based on this, the electronic device and method for managing the mission of an unmanned vehicle of the present invention can greatly improve the efficiency of the unmanned vehicle in performing its mission.

1: Electronic device for managing the mission of unmanned vehicles 10: Central control center subsystem 11: Mission status monitoring module 12: Control right switching module 13: Parallel inspection mission management module 14: Mission receiving and status feedback module 15: RTK GPS module 20: Status management subsystem 21: Inspection mission status module 22: Navigation mission status module 23: Peripheral device status module 24: Parallel inspection mission status module 30: Mission management subsystem 31: Inspection mission display module 32: Navigation mission display module S101~S107, S1~S11, S31~S33: Steps

FIG. 1 is a schematic diagram of an electronic device for managing unmanned vehicle missions according to an embodiment of the present invention. FIG. 2 is an operation flow chart of the electronic device shown in FIG. 1. FIG. 3 is a schematic diagram of a mission according to an embodiment of the present invention. FIG. 4 is a schematic diagram of an RTK GPS module receiving mission RTK GPS information according to an embodiment of the present invention. FIG. 5 is a schematic diagram of mission RTK GPS information of each mission according to an embodiment of the present invention. FIG. 6 is a schematic diagram of a peripheral device and a peripheral device message queuing service according to an embodiment of the present invention. FIG. 7 is a schematic diagram of executing a mission according to an embodiment of the present invention. FIG. 8 is a schematic diagram of executing a mission according to another embodiment of the present invention. FIG. 9 is a schematic diagram of executing a task according to another embodiment of the present invention. FIG. 10 is a flow chart of a method for managing a task of an unmanned vehicle according to an embodiment of the present invention.

S31~S33: Steps

Claims (9)

An electronic device for managing tasks of an unmanned vehicle, comprising a central control center subsystem, a state management subsystem and a task management subsystem, wherein the state management subsystem publishes a navigation task state message queue service corresponding to a navigation task, and publishes an inspection task state message queue service corresponding to an inspection task, wherein the navigation task and the inspection task are related to an unmanned vehicle, and the unmanned vehicle includes a peripheral device; the state management subsystem publishes a peripheral message queue service corresponding to the peripheral device The central control center subsystem uses the peripheral device message queue service to classify the inspection task into an independent inspection task or a parallel inspection task; the task management subsystem uses the navigation task state message queue service, the inspection task state message queue service and the peripheral device message queue service to execute the navigation task and the inspection task, wherein the central control center subsystem includes a control right switching module, and the state management subsystem includes A peripheral device status module, wherein the peripheral device status module obtains the peripheral device status of the peripheral device, wherein the peripheral device status indicates that the peripheral device is an independent peripheral device or a shared peripheral device; the peripheral device status module publishes the peripheral device message queue service corresponding to the peripheral device, and requires the inspection task to subscribe to the peripheral device message queue service, wherein the inspection task subscribes to the subscribed peripheral device message in the peripheral device message queue service A queuing service, wherein the peripheral device includes a subscribed peripheral device corresponding to the inspection task, and the subscribed peripheral device message queuing service corresponds to the subscribed peripheral device; When the subscribed peripheral device includes the independent peripheral device, the control right switching module classifies the inspection task as the independent inspection task; when the subscribed peripheral device does not include the independent peripheral device, the control right switching module classifies the inspection task as the parallel inspection task. An electronic device as described in claim 1, wherein the central control center subsystem includes a task receiving and status return module and an RTK GPS module, wherein the task receiving and status return module receives tasks from a task dispatcher device; the RTK GPS module receives task RTK GPS information corresponding to the task; and the task receiving and status return module transmits task results corresponding to the task to the task dispatcher device. The electronic device as described in claim 2, wherein when the mission RTK GPS information includes a point, the state management subsystem classifies the mission as the navigation mission; when the mission RTK GPS information does not include the point, the state management subsystem classifies the mission as the inspection mission. An electronic device as described in claim 1, wherein the state management subsystem requires the navigation task to subscribe to the inspection task state message queue service; the state management subsystem requires the inspection task to subscribe to the navigation task state message queue service and the inspection task state message queue service. An electronic device as described in claim 1, wherein the central control center subsystem includes a parallel inspection task management module, and the state management subsystem includes a parallel inspection task state module, wherein the parallel inspection task state module publishes a parallel inspection task state message queue service associated with the parallel inspection task, and requires the parallel inspection task to subscribe to the parallel inspection task state message queue service; the parallel inspection task management module publishes a parallel inspection task location associated with the parallel inspection task to the parallel inspection task state message queue service. An electronic device as described in claim 5, wherein the state management subsystem receives the state of the navigation task from the navigation task state message queue service, receives the state of the inspection task from the inspection task state message queue service, and receives the state of the parallel inspection task and the parallel inspection task location from the parallel inspection task state message queue service. An electronic device as described in claim 6, wherein the state management subsystem includes a navigation task state module and an inspection task state module, and the central control center subsystem includes a task state monitoring module, wherein after the navigation task starts to execute, the state of the navigation task received by the navigation task state module from the navigation task state message queue service is a navigation state; after the navigation task is executed, the state of the navigation task received by the navigation task state module from the navigation task state message queue service is a navigation state. The state is a non-navigation state; After the independent inspection task starts to execute, the state of the inspection task received by the inspection task state module from the inspection task state message queue service is an inspection state; after the independent inspection task is executed, the state of the inspection task received by the inspection task state module from the inspection task state message queue service is a non-inspection state; wherein the task state monitoring module monitors the navigation task state message queue service and the inspection task state message queue service. An electronic device as described in claim 1, wherein the task management subsystem includes an inspection task display module and a navigation task display module, wherein the inspection task display module displays the inspection task; and the navigation task display module displays the navigation task. A method for managing tasks of an unmanned vehicle, suitable for being executed by an electronic device including a control center subsystem, a state management subsystem and a task management subsystem, wherein the method comprises the following steps: the state management subsystem publishes a navigation task state message queue service corresponding to the navigation task, and publishes an inspection task state message queue service corresponding to the inspection task, wherein the navigation task and the inspection task are associated with the unmanned vehicle, and the unmanned vehicle includes a peripheral device; the state management subsystem publishes a corresponding The peripheral device message queue service of the peripheral device is used, and the central control center subsystem uses the peripheral device message queue service to classify the inspection task into an independent inspection task or a parallel inspection task; and the task management subsystem uses the navigation task state message queue service, the inspection task state message queue service and the peripheral device message queue service to execute the navigation task and the inspection task, wherein the central control center subsystem includes a control right switching module, and the state management subsystem The system includes a peripheral device status module, wherein the method further includes the following steps: obtaining the peripheral device status of the peripheral device by the peripheral device status module, wherein the peripheral device status indicates that the peripheral device is an independent peripheral device or a shared peripheral device; publishing the peripheral device message queue service corresponding to the peripheral device by the peripheral device status module, and requiring the inspection task to subscribe to the peripheral device message queue service, wherein the inspection task subscribes to the subscribed peripheral device message queue service. Read peripheral device message queuing service, wherein the peripheral device includes a subscribed peripheral device corresponding to the inspection task, and the subscribed peripheral device message queuing service corresponds to the subscribed peripheral device; when the subscribed peripheral device includes the independent peripheral device, the control right switching module classifies the inspection task as the independent inspection task; and when the subscribed peripheral device does not include the independent peripheral device, the control right switching module classifies the inspection task as the parallel inspection task.