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CN-122018554-A - Unmanned aerial vehicle relay tracking method, unmanned aerial vehicle relay tracking device and storage medium

CN122018554ACN 122018554 ACN122018554 ACN 122018554ACN-122018554-A

Abstract

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle relay tracking method, an unmanned aerial vehicle relay tracking device and a storage medium. The method comprises the steps of obtaining task information, wherein the task information is used for indicating a tracking task for at least one target, calling a task unmanned aerial vehicle to execute the tracking task according to the task information, detecting state information when the task unmanned aerial vehicle executes the tracking task, determining a relay tracking task for the target when the task unmanned aerial vehicle triggers a preset relay condition, calling the relay unmanned aerial vehicle to execute the relay tracking task, and controlling the task unmanned aerial vehicle to return after the relay unmanned aerial vehicle reaches an area where the target is located. The application realizes the automatic coordination and relay tracking of multiple unmanned aerial vehicles on the target, obviously reduces the manual intervention and improves the response speed and decision efficiency.

Inventors

  • FENG YINHUA

Assignees

  • 深圳市道通智能航空技术股份有限公司

Dates

Publication Date
20260512
Application Date
20260106

Claims (10)

  1. 1. The unmanned aerial vehicle relay tracking method is characterized by comprising the following steps of: Acquiring task information, wherein the task information is used for indicating a tracking task for at least one target; according to the task information, invoking a task unmanned aerial vehicle to execute the tracking task; Detecting state information when the task unmanned aerial vehicle executes the tracking task, and determining a relay tracking task for the target when the task unmanned aerial vehicle triggers a preset relay condition; and calling the relay unmanned aerial vehicle to execute the relay tracking task, and controlling the unmanned aerial vehicle to return after the relay unmanned aerial vehicle reaches the area where the target is located.
  2. 2. The method of claim 1, wherein the obtaining task information comprises: Acquiring a defense distribution strategy input by a user, wherein a configuration item of the defense distribution strategy comprises at least one identification type of a target and a tracking action of a task unmanned aerial vehicle or a relay unmanned aerial vehicle after the target is identified; acquiring a tracking strategy input by a user, wherein a configuration item of the tracking strategy comprises unmanned aerial vehicle grouping of a relay task and state information of the unmanned aerial vehicle triggering the relay condition; And determining the task information according to the defense distribution strategy and the tracking strategy.
  3. 3. The method of claim 1, wherein the mode in which the task drone performs the tracking task comprises: a route tracking mode, wherein the task unmanned aerial vehicle flies in a preset route, and tracks the target through a holder; an off-course tracking mode, wherein the mission unmanned aerial vehicle is off the preset course, and a rapid mission is created and executed for executing a specific maneuver around the target; the relay conditions include: the unmanned aerial vehicle is in the route tracking mode or the off-route tracking mode, the cradle head of the unmanned aerial vehicle locks the target, and the electric quantity of the unmanned aerial vehicle is lower than a preset threshold.
  4. 4. The method of claim 1, wherein invoking the relay drone to perform the relay tracking task comprises: Selecting available unmanned aerial vehicles from unmanned aerial vehicle groups of relay tasks as relay unmanned aerial vehicles; the method comprises the steps of constructing a relay route by inheriting an original mission route of the mission unmanned aerial vehicle and adding a preset height offset at each waypoint, wherein the relay route is used for guiding the relay unmanned aerial vehicle to the target area from the current position of the relay unmanned aerial vehicle; After the relay unmanned aerial vehicle enters the relay route, the relay tracking task is issued to the relay unmanned aerial vehicle.
  5. 5. The method of claim 1, wherein after invoking a relay drone to perform the relay tracking task, the method further comprises: Acquiring the position information of the target; Determining whether a significant displacement occurs to the target according to the position information of the target, wherein the significant displacement comprises that the horizontal displacement of the target exceeds a preset horizontal distance threshold value or that the height change of the target exceeds a preset height change threshold value; And if the position of the target is significantly displaced, updating the relay tracking task for the relay unmanned aerial vehicle based on the updated target position.
  6. 6. The method of claim 1, wherein controlling the mission drone to return after the relay drone reaches the area of the target comprises: Starting timing when the relay unmanned aerial vehicle arrives at the area where the target is located, and determining the stay time of the relay unmanned aerial vehicle in the area where the target is located; and after the residence time reaches the preset time, sending a return instruction to the task unmanned aerial vehicle.
  7. 7. The method of claim 6, wherein prior to sending a return instruction to the drone, the method further comprises: Detecting whether the task unmanned aerial vehicle is still in a task tracking state; If the task unmanned aerial vehicle exits the tracking task state, the automatic return instruction is terminated to avoid instruction conflict.
  8. 8. The method according to claim 1, wherein the method further comprises: And if the manual control input of the user to the relay unmanned aerial vehicle is detected, terminating the execution process of the relay tracking task, and transmitting the control right of the relay unmanned aerial vehicle to the user.
  9. 9. An unmanned aerial vehicle relay tracking device, characterized by comprising: the data acquisition module is used for acquiring task information, wherein the task information is used for indicating a tracking task for at least one target; The task scheduling module is used for calling the task unmanned aerial vehicle to execute the tracking task according to the task information; The event triggering module is used for detecting state information when the task unmanned aerial vehicle executes the tracking task, and determining a relay tracking task for the target when the task unmanned aerial vehicle triggers a preset relay condition; And the relay tracking module is used for calling the relay unmanned aerial vehicle to execute the relay tracking task and controlling the unmanned aerial vehicle to return after the relay unmanned aerial vehicle reaches the area where the target is located.
  10. 10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-8.

Description

Unmanned aerial vehicle relay tracking method, unmanned aerial vehicle relay tracking device and storage medium Technical Field The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle relay tracking method, an unmanned aerial vehicle relay tracking device and a storage medium. Background Unmanned aerial vehicles, i.e., unmanned aerial vehicles, have been widely used in a number of fields such as security monitoring, regional patrol, and geographical mapping. The performance bottleneck of a single unmanned aerial vehicle is increasingly prominent when long-time and large-scale monitoring tasks are performed, particularly when continuous tracking of moving targets is performed. Limited by the endurance of the on-board battery, a single unmanned aerial vehicle must return to charge after the battery is exhausted, which often results in the tracking task being forced to be interrupted, resulting in loss of key targets. In order to solve the limitation of single-machine endurance, a plurality of schemes of cooperation of unmanned aerial vehicles appear in the related technology. However, these solutions have the common drawback that, on the one hand, the task interfacing (i.e. relay) between multiple unmanned aerial vehicles is severely dependent on manual operations. The pilot needs to manually judge relay time, manually select a standby aircraft, manually plan a flight route, manually command the aircraft to take over a target and manually command the lead aircraft to return. On the other hand, the lack of an effective mechanism for cooperative relay among a plurality of unmanned aerial vehicles leads to the need of searching again after the relay reaches the last known position of the target, and the target is extremely easy to be lost in the shift-on stage, thereby causing the tracking chain to break. Disclosure of Invention An object of the embodiment of the application is to provide a relay tracking method, a relay tracking device and a storage medium for an unmanned aerial vehicle, so as to solve the technical problems that multi-machine collaborative tracking relies on manual operation and lacks a collaborative mechanism. In a first aspect, an embodiment of the present application provides a method for relay tracking of an unmanned aerial vehicle, including: Acquiring task information, wherein the task information is used for indicating a tracking task for at least one target; according to the task information, invoking a task unmanned aerial vehicle to execute the tracking task; Detecting state information when the task unmanned aerial vehicle executes the tracking task, and determining a relay tracking task for the target when the task unmanned aerial vehicle triggers a preset relay condition; and calling the relay unmanned aerial vehicle to execute the relay tracking task, and controlling the unmanned aerial vehicle to return after the relay unmanned aerial vehicle reaches the area where the target is located. With reference to the first aspect, in one possible implementation manner, the acquiring task information includes: Acquiring a defense distribution strategy input by a user, wherein a configuration item of the defense distribution strategy comprises at least one identification type of a target and a tracking action of a task unmanned aerial vehicle or a relay unmanned aerial vehicle after the target is identified; acquiring a tracking strategy input by a user, wherein a configuration item of the tracking strategy comprises unmanned aerial vehicle grouping of a relay task and state information of the unmanned aerial vehicle triggering the relay condition; And determining the task information according to the defense distribution strategy and the tracking strategy. With reference to the first aspect, in a possible implementation manner, the mode of the task unmanned aerial vehicle when executing the tracking task includes: a route tracking mode, wherein the task unmanned aerial vehicle flies in a preset route, and tracks the target through a holder; Off-course tracking mode, the mission drone is off the preset course, creating and executing a fast mission for executing a specific maneuver around the target. The relay conditions include: the unmanned aerial vehicle is in the route tracking mode or the off-route tracking mode, the cradle head of the unmanned aerial vehicle locks the target, and the electric quantity of the unmanned aerial vehicle is lower than a preset threshold. With reference to the first aspect, in a possible implementation manner, the invoking the relay unmanned aerial vehicle to perform the relay tracking task includes: Selecting available unmanned aerial vehicles from unmanned aerial vehicle groups of relay tasks as relay unmanned aerial vehicles; the method comprises the steps of constructing a relay route by inheriting an original mission route of the mission unmanned aerial vehicle and adding a preset height o