Task execution method and device, moveable object and computer readable storage medium

• US 10,705,524 B2
• Filed: 12/21/2017
• Issued: 07/07/2020
• Est. Priority Date: 11/24/2017
• Status: Active Grant

• Current Assignee: Autel Robotics Co., Ltd (Autel Intelligent Technology Corp., Ltd. (f/k/a Autel Intelligent Technology Company Limited))
• Original Assignee: Autel Robotics Co., Ltd (Autel Intelligent Technology Corp., Ltd. (f/k/a Autel Intelligent Technology Company Limited))
• Inventors: Zhang, Ke, Zang, Bo
• Primary Examiner(s): Aquino, Wynuel S
• Application Number:
  US15/850,628
• Publication Number:
  US 20190163184A1
• Time in Patent Office: 929 Days
• Field of Search: None
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06Q 10/06 Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G06Q 10/083 Shipping

Abstract

The present invention provides a task execution method and device. The task execution method includes: obtaining a task list, where the task list includes at least two to-be-executed tasks; determining a task mode, where the task mode includes a task set mode and a task flow mode; and executing the at least two to-be-executed tasks according to the determined task mode.

Claims

1. A task execution method, applied to a moveable object, and comprising:

obtaining a task list, wherein the task list comprises at least two to-be-executed tasks;

determining a task mode, wherein the task mode comprises a task set mode and a task flow mode, the task set mode refers to that the moveable object executes the at least two to-be-executed tasks according to an optimal path, and the task flow mode refers to that the moveable object executes the at least two to-be-executed tasks according to a user-specified sequence; and

executing the at least two to-be-executed tasks according to the determined task mode, wherein the executing the at least two to-be-executed tasks according to the determined task mode comprises;

determining, when one of the at least two to-be-executed tasks is completed, whether remaining energy of the moveable object is capable of supporting the moveable object in completing a task that has not been completed in the at least two to-be-executed tasks and returning; and

if the remaining energy of the moveable object is not capable of supporting the moveable object in completing the task that has not been completed in the at least two to-be-executed tasks and returning, sending a prompt warning of insufficient energy to a control terminal, determining whether a number of times of sending the prompt warning of insufficient energy to the control terminal exceeds a preset threshold and if the number of times or a duration of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, control the moveable object to cancel execution of the task that has not been completed and return the movable object automatically;

after the determination of whether the number of times of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, determine a task that has not been completed in the task list and if the remaining energy of the movable object is capable of completing the task that has not been completed, perform a next task in the task list by the movable object according to the determined task mode.

2. The method according to claim 1, further comprising:

determining a start position of a first executed task in the at least two to-be-executed tasks.

3. The method according to claim 2, wherein the determining a start position of a first executed task in the at least two to-be-executed tasks comprises:

determining a current position of the moveable object;

determining whether the current position matches the start position; and

if the current position does not match the start position, adjusting the position of the moveable object until the position matches the start position.

4. The method according to claim 3, wherein the determining a current position of the moveable object comprises:

determining a longitude and a latitude of the moveable object or a height of the moveable object relative to the ground.

5. The method according to claim 1, wherein the executing the at least two to-be-executed tasks according to the determined task mode comprises:

determining, when one of the at least two to-be-executed tasks is completed, whether there is a new task needing to be added to the task list; and

if there is a new task needing to be added to the task list, updating the task list.

6. The method according to claim 1, wherein the executing the at least two to-be-executed tasks according to the determined task mode comprises:

determining, when one of the at least two to-be-executed tasks is completed, whether the moveable object has completed all to-be-executed tasks of the at least two to-be-executed tasks.

7. The method according to claim 6, wherein the task mode is the task set mode, and the method further comprises:

re-planning a path, and executing the task that has not been completed in the updated task list according to an optimal path.

8. The method according to claim 7, wherein the, determining, when one of the at least two to-be-executed tasks is completed, whether the moveable object has completed all to-be-executed tasks of the at least two to-be-executed tasks comprises:

determining whether there is a task that has not been executed by the moveable object in the task list; and

if there is no task that has not been executed by the moveable object in the task list, determining that the moveable object has completed all the to-be-executed tasks in the task list.

9. The method according to claim 6, wherein the task mode is the task flow mode, and the updating the task list comprises:

listing the new task at the end of the task list.

10. The method according to claim 9, wherein the determining, when one of the at least two to-be-executed tasks is completed, whether the moveable object has completed all to-be-executed tasks of the at least two to-be-executed tasks comprises:

determining whether a task currently executed by the moveable object matches a last executed task in the task list; and

if the task currently executed by the moveable object matches the last executed task in the task list, determining that the moveable object has completed all the to-be-executed tasks in the task list.

11. The method according to claim 1, wherein the executing the at least two to-be-executed tasks according to the determined task mode comprises:

determining whether the task list has two tasks that interfere with each other; and

if the task list has two tasks that interfere with each other, selecting a task mode again.

12. The method according to claim 1, wherein the at least two to-be-executed tasks are at least two of the following tasks:

disaster pre-warning, surveying and detection, image collection, detection and tracking, sample extraction and goods delivery.

13. A moveable object, comprising:

a body; and

a processor, which is disposed in the body, wherein the processor is configured to;

obtain a task list, wherein the task list comprises at least two to-be-executed tasks;

determine a task mode, wherein the task mode comprises a task set mode and a task flow mode, the task set mode refers to that the moveable object executes the at least two to-be-executed tasks according to an optimal path, and the task flow mode refers to that the moveable object executes the at least two to-be-executed tasks according to a user-specified sequence; and

control, according to the determined task mode, the moveable object to execute the at least two to-be-executed tasks, wherein the processor is specifically configured to;

determine, when one of the at least two to-be-executed tasks is completed whether remaining energy of the moveable object is capable of supporting the moveable object in completing a task that has not been completed in the at least two to-be-executed tasks and returning; and

if the remaining energy of the moveable object is not capable of supporting the moveable object in completing the task that has not been completed in the at least two to-be-executed tasks and returning, send a prompt warning of insufficient energy to a control terminal wherein the processor is further configured to determine whether a number of times of sending the prompt warning of insufficient energy to the control terminal exceeds a preset threshold; and

if the number of times or a duration of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, control the moveable object to cancel execution of the task that has not been completed and return the movable object automatically;

after the determination of whether the number of times of sending the prompt warning of insufficient energy to the control terminal exceeds the preset threshold, determine a task that has not been completed in the task list and if the remaining energy of the movable object is capable of completing the task that has not been completed, perform a next task in the task list by the movable object according to the determined task mode.

14. The moveable object according to claim 13, wherein the processor is further configured to:

determine a start position of a first executed task in the at least two to-be-executed tasks.

15. The moveable object according to claim 14, wherein the processor is specifically configured to:

determine a current position of the moveable object;

determine whether the current position matches the start position; and

if the current position does not match the start position, adjust the position of the moveable object until the position matches the start position.

16. The moveable object according to claim 15, wherein the current position comprises a longitude and a latitude of the moveable object or a height of the moveable object relative to the ground.

17. The moveable object according to claim 13, wherein the processor is configured to:

determine, when one of the at least two to-be-executed tasks is completed, whether there is a new task needing to be added to the task list; and

if there is a new task needing to be added to the task list, update the task list.

18. The moveable object according to claim 13, wherein the processor is specifically configured to:

determine, when one of the at least two to-be-executed tasks is completed, whether the moveable object has completed all to-be-executed tasks of the at least two to-be-executed tasks.

19. The moveable object according to claim 18, wherein the task mode is the task set mode, and the processor is further configured to:

re-plan a path, and execute the task that has not been completed in the updated task list according to an optimal path.

20. The moveable object according to claim 19, wherein the processor is specifically configured to:

determine whether there is a task that has not been executed by the moveable object in the task list; and

if there is no task that has not been executed by the moveable object in the task list, determine that the moveable object has completed all to-be-executed tasks in the task list.

21. The moveable object according to claim 18, wherein the task mode is the task flow mode, and the processor is further configured to:

list the new task at the end of the task list.

22. The moveable object according to claim 21, wherein the processor is configured to:

determine whether a task currently executed by the moveable object matches a last executed task in the task list; and

if the task currently executed by the moveable object matches the last executed task in the task list, determine that the moveable object has completed all the to-be-executed tasks in the task list.

23. The moveable object according to claim 13, wherein the processor is further configured to:

determine whether the task list has two tasks that interfere with each other; and

if the task list has two tasks that interfere with each other, select a task mode again.

24. The moveable object according to claim 13, wherein the at least two to-be-executed tasks are at least two of the following tasks:

disaster pre-warning, surveying and detection, image collection, detection and tracking, sample extraction and goods delivery.