CN113454559A

CN113454559A - Flight control method and device, unmanned aerial vehicle and storage medium

Info

Publication number: CN113454559A
Application number: CN202080014786.6A
Authority: CN
Inventors: 王凯; 邸健; 宋春林
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-09-28
Also published as: WO2022061902A1

Abstract

A flight control method, a flight control device, an unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: acquiring position information (201) acquired by a positioning sensor; acquiring boundary indication information (202) of a target flight restriction area sent by a control terminal; and controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area (203). By adopting the method, when the unmanned aerial vehicle loses the communication connection with the control terminal, the unmanned aerial vehicle can still control the unmanned aerial vehicle through the locally stored boundary indication information of the area indication information of the target flight limitation area, so that the unmanned aerial vehicle is prohibited from flying in the target flight limitation area or flying out of the target flight limitation area.

Description

Flight control method and device, unmanned aerial vehicle and storage medium

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method and device, an unmanned aerial vehicle and a storage medium.

Background

In the related art, the control terminal on the ground side may control the drone to fly at the input speed in the indicated direction.

In some application scenarios, in order to prevent the unmanned aerial vehicle from flying to some dangerous places due to misoperation, a user may set a flight limiting area for the unmanned aerial vehicle to fly in advance in the control terminal. After the user sets the flight limiting area, the control terminal can generate a control instruction for preventing the unmanned aerial vehicle from flying out of the flight limiting area according to the position information of the unmanned aerial vehicle, and sends the control instruction to the unmanned aerial vehicle.

Because the control to unmanned aerial vehicle relies on the control command that control terminal sent completely, when communication connection between control terminal and the unmanned aerial vehicle broke down, unmanned aerial vehicle can't receive the control command that control terminal sent, and unmanned aerial vehicle limit is flown and the management and control is inefficacy.

Disclosure of Invention

The embodiment of the invention provides a flight control method and device, an unmanned aerial vehicle and a storage medium, which are used for ensuring the effectiveness of flight limitation and control of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a flight control method, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a positioning sensor, and the method includes:

acquiring position information acquired by the positioning sensor;

acquiring boundary indication information of a target flight limiting area, which is sent by a control terminal;

and controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area.

In a second aspect, an embodiment of the present invention provides a flight control apparatus, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a positioning sensor, including a memory and a processor; wherein the memory has stored thereon executable code that, when executed by the processor, causes the processor to:

acquiring position information acquired by the positioning sensor;

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:

a body;

the power system is arranged on the machine body and used for providing power for the unmanned aerial vehicle;

and the flight control device in the second aspect, the flight control device being provided on the airframe.

In a fourth aspect, the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the flight control method in the first aspect.

By adopting the method and the device, after the control terminal obtains the boundary indication information of the target flight restriction area, the control terminal can send the boundary indication information of the area indication information of the target flight restriction area to the unmanned aerial vehicle, so that the boundary indication information of the area indication information of the target flight restriction area can be stored in the unmanned aerial vehicle. When the unmanned aerial vehicle loses the communication connection with the control terminal, the unmanned aerial vehicle can still control the unmanned aerial vehicle through the locally stored boundary indication information of the area indication information of the target flight limitation area, so that the unmanned aerial vehicle is forbidden to fly in the target flight limitation area or fly out of the target flight limitation area.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a system composed of an unmanned aerial vehicle and a control terminal according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart diagram illustrating a flight control method according to an embodiment of the present invention;

FIG. 3 is a schematic view of a flight restriction area provided in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a tree structure according to an embodiment of the present invention;

fig. 5 is a schematic view of a flight attribute corresponding to a flight restriction area according to an embodiment of the present invention;

FIG. 6 is a schematic view of a flight restriction area provided in accordance with an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a flight control apparatus according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.

The flight control method provided by the embodiment of the invention can be applied to the unmanned aerial vehicle shown in figure 1 and is realized by matching the control terminal. Wherein, dispose positioning sensor among the unmanned aerial vehicle for acquire unmanned aerial vehicle's positional information. Fig. 2 is a flowchart of a flight control method according to an embodiment of the present invention, as shown in fig. 2, the method includes the following steps:

201. and acquiring the position information acquired by the positioning sensor.

202. And acquiring boundary indication information of the target flight limiting area, which is sent by the control terminal.

203. And controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area.

The control terminal may be a Personal Computer (PC), a mobile device, a remote controller, or the like.

In practical applications, the user may input boundary indication information of the target flight restriction area in the screen of the control terminal. For example, a preset map image can be displayed on a screen of the control terminal, and the positions of tall buildings, electric towers and other high buildings around the unmanned aerial vehicle can be marked in the map image, so that the user can manually draw a target flight restriction area in the map image by referring to the marked positions of the high buildings. The user can draw the target flight restriction area by adopting various geometric figures such as circles, polygons, rings, quasi-rings and the like, and the control terminal can extract the boundaries of the geometric figures as boundary indication information of the target flight restriction area.

It is to be understood that the map image may also be a three-dimensional image, so that a flight restriction area can be set in a stereoscopic space. The map image can be provided by a geographic information system or can be a local image automatically constructed based on a map construction technology.

After the control terminal acquires the boundary indication information of the target flight restriction area, the control terminal can send the boundary indication information of the target flight restriction area to the unmanned aerial vehicle, and the unmanned aerial vehicle can store the received boundary indication information of the target flight restriction area in a local nonvolatile storage medium. Therefore, even if the unmanned aerial vehicle loses the communication connection with the control terminal, the flight control can still be completed based on the boundary indication information of the target flight limiting area stored locally.

After the unmanned aerial vehicle acquires the boundary indication information of the target flight restriction area, the unmanned aerial vehicle can be controlled according to the position information acquired by the positioning sensor and the boundary indication information of the flight restriction area, so that the unmanned aerial vehicle is prohibited from flying in the target flight restriction area or flying out of the target flight restriction area. It is understood that the Positioning sensor may be a Global Positioning System (GPS), or may also acquire the position information of the drone through technologies such as simultaneouspositioning And Mapping (SLAM), Ultra Wide Band (UWB), And the like.

Optionally, the method provided in the embodiment of the present invention may further include: and receiving the flight attribute information of the target flight limiting area sent by the control terminal, wherein the flight attribute information of the target flight limiting area is determined by the control terminal by detecting the flight attribute setting operation of a user. Accordingly, the process of controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area so as to prohibit the unmanned aerial vehicle from flying in or out of the flight restriction area may be implemented as: if the flight attribute information is the indication information for prohibiting flying in, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limiting area to prohibit the unmanned aerial vehicle from flying in the target flight limiting area; and if the flight attribute information is the indication information for prohibiting flying out, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limiting area to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

In practical application, besides drawing the target flight restriction area through some geometric figures in the control terminal, the user can set flight attribute information for the target flight restriction area, and whether the target flight restriction area can fly or not is indicated through the flight attribute information.

The flight attribute information may be the no-fly-in instruction information or the no-fly-out instruction information. When the flight attribute information is the indication information for prohibiting flying in, the unmanned aerial vehicle can be controlled not to fly in the target flight restriction area according to the position information of the unmanned aerial vehicle and the boundary indication information of the flight restriction area. When the flight attribute information is the indication information for prohibiting flying out, the unmanned aerial vehicle can be controlled not to fly out of the target flight restriction area according to the position information of the unmanned aerial vehicle and the boundary indication information of the flight restriction area.

Optionally, the above process of controlling the drone to prohibit the drone from flying in the target flight restriction area according to the position information and the boundary indication information of the flight restriction area may be implemented as: determining whether the unmanned aerial vehicle is in the target flight restriction area or not according to the position information and the boundary indication information of the flight restriction area; and if so, forbidding the unmanned aerial vehicle to take off.

Before the unmanned aerial vehicle takes off, whether the unmanned aerial vehicle is in a target flight limiting area with flight attribute information set as the indication information for prohibiting flying in can be judged, and if the unmanned aerial vehicle is in the target flight limiting area with the flight attribute information set as the indication information for prohibiting flying in, the unmanned aerial vehicle can be prohibited from taking off in the area.

Optionally, controlling the drone to prohibit the drone from flying in the target flight restriction area according to the position information and the boundary indication information of the flight restriction area may further include: if not, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limiting area to prohibit the unmanned aerial vehicle from flying into the target flight limiting area.

If the unmanned aerial vehicle is judged not to be in the target flight limiting area with the flight attribute information set as the no-fly-in indicating information, the unmanned aerial vehicle can be controlled not to fly into the target flight limiting area according to the position information of the unmanned aerial vehicle and the boundary indicating information of the flight limiting area.

Alternatively, the process of controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying out of the target flight restriction area may be implemented as follows: determining whether the unmanned aerial vehicle is in the target flight restriction area or not according to the position information and the boundary indication information of the flight restriction area; if so, determining a flight limiting instruction according to the position information and the boundary indication information, and controlling the unmanned aerial vehicle according to the flight limiting instruction to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

If the flight attribute information corresponding to the target flight limiting area is the indication information for prohibiting flying out, and the unmanned aerial vehicle is judged to be in the target flight limiting area according to the position information of the unmanned aerial vehicle and the boundary indication information of the target flight limiting area, then the flight limiting instruction can be determined according to the position information and the boundary indication information of the unmanned aerial vehicle, and the unmanned aerial vehicle can be controlled to keep flying in the target flight limiting area in the process of executing the flight limiting instruction by the unmanned aerial vehicle.

Optionally, controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the position information and the boundary indication information of the flight restriction area may further include: and if not, forbidding the unmanned aerial vehicle to take off.

Assuming that the flight attribute information corresponding to the target flight restriction area is the indication information for prohibiting flying out, and determining that the unmanned aerial vehicle is not in the target flight restriction area according to the position information of the unmanned aerial vehicle and the boundary indication information of the target flight restriction area, which also means that the unmanned aerial vehicle is currently in a flight restriction area for prohibiting flying in, if the unmanned aerial vehicle needs to take off, the unmanned aerial vehicle can be prohibited from taking off.

Optionally, the method provided in the embodiment of the present invention may further include: receiving boundary indication information of a plurality of flight limitation areas sent by a control terminal, wherein the plurality of flight limitation areas comprise a target flight limitation area, and the boundary indication information of the plurality of flight limitation areas is determined by the control terminal through detecting flight limitation area indication operation of a user; receiving flight attribute information of a plurality of flight limiting areas sent by a control terminal, wherein the flight attribute information is flight-in prohibition indication information or flight-out prohibition indication information, and the boundary indication information of the plurality of flight limiting areas is determined by the flight attribute setting operation of a control terminal detection user.

Accordingly, the process of controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area may be implemented as follows: acquiring a tree structure relationship of a plurality of flight limiting areas, wherein the flight limiting areas at the father node positions in the tree structure relationship comprise flight limiting areas at child node positions corresponding to the father node positions, and the flight attributes of the flight limiting areas at the father node positions are different from the flight attributes of the flight limiting areas at the child node positions; determining a target flight limiting area from the plurality of flight limiting areas according to the position information and the boundary indication information of the unmanned aerial vehicle, wherein the target flight limiting area is the flight limiting area where the unmanned aerial vehicle is located and is at the position of a child node at the lowest level in the tree structure relationship; controlling the drone to prohibit the drone from flying in or out of the target flight-restriction area.

It should be noted that, a user may set a plurality of flight restriction areas in the control terminal, and at least one of the flight restriction areas may optionally set its flight attribute information, and the control terminal may automatically determine the flight attribute information of other areas according to the flight attribute information set by the user for the selected area. Or, the user can also set the flight attribute information of all the flight limiting areas, and the control terminal or the unmanned aerial vehicle can help to check whether the flight attribute information set by the user is abnormal or not and give a corresponding prompt when the flight attribute information is abnormal.

After the control terminal acquires the boundary indication information of the multiple flight restriction areas and the flight attribute information corresponding to the boundary indication information, the boundary indication information of the multiple flight restriction areas and the flight attribute information corresponding to the boundary indication information can be sent to the unmanned aerial vehicle. The drone may store locally the received boundary indication information for the plurality of flight restriction areas and the respective corresponding flight attribute information. The drone may then also acquire a tree structure relationship.

Alternatively, the process of obtaining the tree structure relationship of the plurality of flight restriction regions may be implemented as: and receiving the tree structure relation of the plurality of flight limiting areas transmitted by the control terminal.

In practical application, after the control terminal acquires the boundary indication information of the plurality of flight restriction areas, the control terminal can construct a tree structure of the plurality of flight restriction areas based on the boundary indication information, and then sends the tree structure relationship of the plurality of flight restriction areas to the unmanned aerial vehicle. Certainly, optionally, the unmanned aerial vehicle may also determine the tree structure relationship of the multiple flight restriction areas according to the boundary indication information of the multiple flight restriction areas, so that it is not necessary to obtain the tree structure relationship from the control terminal.

For ease of understanding, the process of building a tree structure is specifically illustrated by the example shown in fig. 3. Assume that the user draws a region 1 with a rectangle, a region 2 and a region 3 with rectangles within the region 1, a region 4 with a circle, a region 5 with a pentagon, a region 6 with a circle within the region 5, and a region 7 with a triangle within the region 3, respectively.

The region with the largest area may be determined as the parent node in the tree structure starting from the region with the largest area among these regions, then region 1 is taken as the parent node in this example. Region 1 contains region 2 and region 3, and region 2 and region 3 may serve as the first level child nodes below the parent node. Area 2 includes area 4 and area 5, and area 4 and area 5 may serve as second-tier child nodes below the first-tier child nodes. Region 5 contains region 6, and region 6 may serve as a third level child node below the second level child node. Area 3 contains area 7, and area 3 is a first level child node, then area 7 may be a second level child node below the first level child node. Building a tree based on the multiple flight restriction regions shown in FIG. 3 can result in the tree shown in FIG. 4.

In the manner described in the above example, the tree-structured relationship between the plurality of flight restriction regions may be established according to the boundary indication information of the plurality of flight restriction regions. The flight attributes corresponding to nodes of two adjacent levels in the tree structure are opposite. For example, assuming that the flight attribute information of the area 6 in the third-layer child node is the no-fly-in indication information, the flight attribute information of the area of the second-layer child node above the third-layer child node should all be the no-fly-out indication information, that is, the area 4, the area 5, and the area 7 should all be the no-fly-out indication information.

For another example, assuming that the flight attribute information of the area 1 is the no-fly instruction information, the flight attribute information of the

areas

2 and 3 is the no-fly instruction information, the flight attribute information of the areas 4, 5, and 7 is the no-fly instruction information, and the flight attribute information of the area 6 is the no-fly instruction information. The result shown in fig. 5 can be obtained by making the area corresponding to the no-fly instruction information hatched in the figure and making the area corresponding to the no-fly instruction information blank.

It should be noted that a plurality of drones may share the same map image. For example, multiple drones may share a map image corresponding to fig. 5, assuming that drone 1 is flying in area 2, drone 2 is flying in area 3, and drone 3 is flying in area 6, none of which enter or pass through areas 1, 4, 5, and 7.

Finally, a target restricted flight zone may be determined from the plurality of flight restricted zones based on the position information and the boundary indication information of the drone. It should be noted that, assuming that the unmanned aerial vehicle is located in the area 4, the area 4 is included in the area 2, which is equivalent to that the unmanned aerial vehicle is also located in the area 2. Then the flight attribute information of the area 2 and the area 4 are opposite, and the flight attribute information referred by the drone may be the flight attribute information corresponding to the flight restriction area at the child node position of the lowest hierarchy level in the area 2 and the area 4. In this example, it may be determined that the flight restriction area at the position of the child node of the lowest hierarchy where the unmanned aerial vehicle is located is the area 4, and then the unmanned aerial vehicle may be controlled with reference to the flight attribute information corresponding to the area 4.

Alternatively, it is described above that the user may set the flight attribute information of the flight restriction area in the control terminal, and then send the flight attribute information of the flight restriction area to the drone. After receiving the flight attribute information of the flight restriction area set by the user, the drone may optionally assist in detecting whether there is an abnormality in the flight attribute information of the flight restriction area set by the user. The detection process may include: detecting whether the flight limiting area at the father node position in the tree structure relationship comprises the flight limiting area at the child node position corresponding to the father node position; if not, sending first abnormal prompt information to the control terminal; or, detecting whether the flight attribute of the flight limiting area at the position of the father node is different from the flight attribute of the flight limiting area at the position of the child node; and if not, sending second abnormal prompt information to the control terminal.

Optionally, the detection process may further include: detecting whether a partially overlapped flight restriction area exists in the plurality of flight restriction areas according to boundary indication information of the plurality of flight restriction areas; if so, sending third abnormal prompt information to the control terminal; or detecting whether the flight limitation areas are overlapped with the fixed no-fly areas or not according to the boundary indication information of the flight limitation areas and the boundary indication information of the fixed no-fly areas stored in the local storage device of the unmanned aerial vehicle; and if so, sending fourth abnormal prompt information to the control terminal.

It can be understood that, where the plurality of flight restriction areas drawn by the user are not allowed to overlap with each other, if any of the plurality of flight restriction areas drawn by the user overlap with each other, a third exception prompt message may be issued to prompt the user to modify the area where the overlap occurs. Alternatively, the regions where the partial overlap occurs may be directly merged, so that the region where the partial overlap occurs becomes a slice region.

In addition, some areas are fixed no-fly areas, for example, an airport is a fixed no-fly area, and the airport is a place which absolutely does not allow the unmanned aerial vehicle to enter. And regarding the fixed no-fly zone, default marking can be performed in the map image, and if any flight limitation zones of the plurality of flight limitation zones drawn by the user are partially overlapped with the fixed no-fly zone, fourth abnormal prompt information can be sent out to prompt the user to modify the partially overlapped zones.

Optionally, whether the control terminal or the drone, the tree structure of the plurality of flight restriction areas may be constructed based on the following principles: the flight restriction regions at the same level do not overlap each other in the tree structure relationship, and the flight attributes of the flight restriction regions at the same level are the same.

Alternatively, the process of obtaining the tree structure relationship of the plurality of flight restriction regions may be implemented as: and receiving the tree structure relation of the plurality of flight limiting areas transmitted by the control terminal. Accordingly, whether the flight restriction regions at the same level in the tree structure relationship do not overlap each other; if not, sending a fifth abnormal prompt message to the control terminal; or detecting that the flight attributes of the flight limiting areas at the same level are the same; and if not, sending sixth abnormal prompt information to the control terminal.

In practical application, if the control terminal establishes the tree-like structure relationship of a plurality of flight restriction areas, the unmanned aerial vehicle can acquire the tree-like structure relationship of the plurality of flight restriction areas from the control terminal, and then the unmanned aerial vehicle can detect the tree-like structure relationship established by the control terminal, and if the tree-like structure relationship is abnormal, prompt can be performed.

The foregoing describes the process of acquiring the target flight restriction area and determining the flight attribute information of the target flight restriction area, and how to control the drone using the flight attribute information of the target flight restriction area.

Alternatively, the process of controlling the drone to prohibit the drone from flying in or out of the target flight restriction area may be implemented as: if the flight attribute information of the target flight limiting area is the indication information for forbidding flying in, forbidding the unmanned aerial vehicle to take off; and if the flight attribute information of the target flight limiting area is the indication information for prohibiting flying out, determining a flight limiting instruction according to the position information and the boundary indication information, and controlling the unmanned aerial vehicle according to the flight limiting instruction to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

In practical application, the target flight limitation area where the unmanned aerial vehicle is located currently can be determined according to the position information of the unmanned aerial vehicle and the boundary indication information of the plurality of flight limitation areas, and the flight attribute information of the target flight limitation area can also be determined. The flight attribute information of the target flight restriction area is assumed to be the no-fly-out instruction information, that is, the unmanned aerial vehicle can only fly in the target flight restriction area and cannot fly into other flight restriction areas.

In order to achieve the purpose, the unmanned aerial vehicle can be set to fly at a larger speed when flying at a position near the middle of the target flight limiting area, and the speed component of the unmanned aerial vehicle along the boundary direction can be limited when flying near the boundary of the target flight limiting area, so that the unmanned aerial vehicle can be prevented from exceeding the boundary due to too high speed. Thus, the further away the drone is from the boundary, the greater the velocity component along the direction of the boundary may be, and the closer the drone is to the boundary, the less the velocity component along the direction of the boundary is limited, even when infinitely close to the boundary to 0.

Based on this, optionally, the above process of determining the flight restriction instruction according to the position information and the boundary indication information may be implemented as follows: determining the shortest distance between the unmanned aerial vehicle and the boundary of the flight limiting area according to the position information and the boundary indication information; obtaining the minimum distance and determining the maximum flight limiting speed along the vector direction of the minimum distance; and generating a flight limiting instruction for limiting the speed of the unmanned aerial vehicle according to the maximum flight limiting speed, wherein the flight limiting instruction does not change the speed direction of the unmanned aerial vehicle.

The flight limit instructions may include a first flight limit instruction in a vector direction of the closest distance and a second flight limit instruction perpendicular to the vector direction.

For example, as shown in fig. 6, assuming that the drone flies in a circular target flight restriction area, the current position information of the drone is (x)_d,y_d) The radius of the circular target flight restriction region is R, and the position information of the circle is (x)_c,y_c) Then the minimum distance between the drone and the boundary of the flight restriction area is

The vector direction along the closest distance is

Thus, the closest distance vector is

The maximum flight limiting speed along the vector direction of the shortest distance corresponding to the distance between the unmanned aerial vehicle and the boundary of the flight limiting area can be calculated according to the flight envelope and the acceleration and deceleration capacity of the unmanned aerial vehicle. Alternatively, the maximum flight limit speed in the vector direction of the closest distance corresponding to the distance between the drone and the boundary of the flight limit area may also be measured experimentally. The flight envelope is a closed geometric figure which takes parameters such as flight speed, altitude, overload, ambient temperature and the like as coordinates and represents the flight range of the airplane and the use limit condition of the airplane.

In the above manner, the mapping relationship between the distance between the unmanned aerial vehicle and the boundary of the flight restriction area and the maximum flight restriction speed in the vector direction of the closest distance shown in table 1 can be obtained, and several representative characteristic data are given in the mapping relationship, and data not in the mapping relationship can be obtained by an interpolation algorithm.

TABLE 1

Wherein d is more than 0₁＜d₂＜d₃＜…＜d_n，0≤v₁＜v₂＜v₃＜…＜v_n。

Assume that an initial speed command controls the drone to fly at a first speed in a first direction. The maximum flight limit speed in the vector direction of the shortest distance may be determined according to the mapping relationship and the shortest distance between the unmanned aerial vehicle and the boundary of the flight limit area, assuming that the vector direction of the shortest distance is the second direction and the maximum flight limit speed is the second speed. The first speed can be subjected to angle-preserving attenuation along the second direction, so that the unmanned aerial vehicle can fly along the first direction while the component of the attenuated first speed in the second direction is less than or equal to the maximum flight limiting speed.

In one possible application scenario, assuming that the drone is blown into a flight restriction area where no flying-in is prohibited by strong wind, the drone may be allowed to automatically return to the flight restriction area where no flying-out is prohibited, and the drone may also be controlled away from the flight restriction area where no flying-in is prohibited. In addition, the unmanned aerial vehicle in the embodiment of the invention can be a multi-rotor wing, a helicopter, a fixed wing unmanned aerial vehicle and the like.

A further exemplary embodiment of the present invention provides a flight control apparatus for use with a drone, the drone including a positioning sensor. As shown in fig. 7, the apparatus includes:

a memory 1910 for storing a computer program;

a processor 1920 configured to execute the computer program stored in the memory 1910 to implement:

acquiring position information acquired by the positioning sensor;

Optionally, the processor 1920 is further configured to:

receiving flight attribute information of a target flight limiting area sent by a control terminal, wherein the flight attribute information of the target flight limiting area is determined by the control terminal through detecting the flight attribute setting operation of a user;

the processor 1920 is configured to control the drone according to the location information and the boundary indication information of the flight restriction area, so that when the drone is prohibited from flying in or out of the flight restriction area, the processor is specifically configured to:

if the flight attribute information is the indication information for prohibiting flying in, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limiting area to prohibit the unmanned aerial vehicle from flying in the target flight limiting area;

and if the flight attribute information is the indication information for prohibiting flying out, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limiting area to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

Optionally, the processor 1920 is configured to control the drone according to the position information and the boundary indication information of the flight restriction area, so as to prohibit the drone from flying in the target flight restriction area, and specifically configured to:

determining whether the unmanned aerial vehicle is in the target flight restriction area or not according to the position information and the boundary indication information of the flight restriction area;

and if so, forbidding the unmanned aerial vehicle to take off.

Optionally, the processor 1920 is further configured to control the drone according to the position information and the boundary indication information of the flight restriction area to prohibit the drone from flying in the target flight restriction area, and further configured to:

if not, controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight limitation area to prohibit the unmanned aerial vehicle from flying into the target flight limitation area.

Optionally, the processor 1920 is configured to, when controlling the drone according to the position information and the boundary indication information of the flight restriction area to prohibit the drone from flying out of the target flight restriction area, specifically:

if yes, determining a flight limiting instruction according to the position information and the boundary indication information, and controlling the unmanned aerial vehicle according to the flight limiting instruction to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

Optionally, the processor 1920 is further configured to, when controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the position information and the boundary indication information of the flight restriction area:

and if not, forbidding the unmanned aerial vehicle to take off.

Optionally, the processor 1920 is further configured to:

receiving boundary indication information of a plurality of flight limitation areas sent by a control terminal, wherein the plurality of flight limitation areas comprise a target flight limitation area, and the boundary indication information of the plurality of flight limitation areas is determined by the flight limitation area indication operation of a control terminal detection user;

receiving flight attribute information of a plurality of flight limiting areas sent by a control terminal, wherein the flight attribute information is flight-in prohibition indication information or flight-out prohibition indication information, and the boundary indication information of the plurality of flight limiting areas is determined by the flight attribute setting operation of a control terminal detection user;

the processor 1920 is configured to, according to the position information and the boundary indication information of the flight restriction area, control the drone so as to prohibit the drone from flying in or out of the target flight restriction area, and specifically configured to:

acquiring a tree structure relationship of the plurality of flight limiting areas, wherein the flight limiting areas at the father node positions in the tree structure relationship comprise flight limiting areas at child node positions corresponding to the father node positions, and flight attributes of the flight limiting areas at the father node positions are different from flight attributes of the flight limiting areas at the child node positions;

determining a target flight limiting area from the plurality of flight limiting areas according to the position information of the unmanned aerial vehicle and the boundary indication information, wherein the target flight limiting area is a flight limiting area where the unmanned aerial vehicle is located and is at a child node position of the lowest level in the tree structure relationship;

controlling a drone to prohibit the drone from flying in or out of the target flight-restriction area.

Optionally, when the processor 1920 acquires the tree structure relationship of the plurality of flight restriction regions, the processor is specifically configured to:

and receiving the tree structure relationship of the plurality of flight limiting areas sent by the control terminal.

Optionally, the processor 1920 is further configured to:

detecting whether the flight limiting area at the father node position in the tree structure relationship comprises the flight limiting area at the child node position corresponding to the father node position;

if not, sending first abnormal prompt information to the control terminal; alternatively, the first and second electrodes may be,

detecting whether the flight attributes of the flight-restricted area at the parent node location are different from the flight attributes of the flight-restricted area at the child node location; and if not, sending second abnormal prompt information to the control terminal.

and determining the tree structure relationship of the plurality of flight limiting areas according to the boundary indication information of the plurality of flight limiting areas.

Optionally, the processor 1920 is further configured to:

detecting whether a partially overlapped flight restriction area exists in the plurality of flight restriction areas according to boundary indication information of the plurality of flight restriction areas;

if so, sending third abnormal prompt information to the control terminal; alternatively, the first and second electrodes may be,

detecting whether a flight limiting area is overlapped with a fixed no-fly-off area in the plurality of flight limiting areas according to the boundary indication information of the plurality of flight limiting areas and the boundary indication information of the fixed no-fly-off area stored in a local storage device of the unmanned aerial vehicle;

and if so, sending fourth abnormal prompt information to the control terminal.

Optionally, the flight restriction regions at the same level in the tree structure relationship do not overlap each other, and the flight attributes of the flight restriction regions at the same level are the same.

receiving the tree structure relation of the plurality of flight limiting areas sent by the control terminal;

the processor 1920 is further configured to:

whether flight restriction regions at the same level in the tree structure relationship do not overlap with each other;

if not, sending a fifth abnormal prompt message to the control terminal; alternatively, the first and second electrodes may be,

detecting that flight attributes of flight-restricted areas at the same level are the same;

and if not, sending sixth abnormal prompt information to the control terminal.

Optionally, the processor 1920 is configured to control the drone to prohibit the drone from flying in or out of the target flight restriction area, and is specifically configured to:

if the flight attribute information of the target flight limiting area is the indication information for forbidding flying in, forbidding the unmanned aerial vehicle to take off;

and if the flight attribute information of the target flight limiting area is the indication information for prohibiting flying out, determining a flight limiting instruction according to the position information and the boundary indication information, and controlling the unmanned aerial vehicle according to the flight limiting instruction to prohibit the unmanned aerial vehicle from flying out of the target flight limiting area.

Optionally, when the processor 1920 determines the flight restriction instruction according to the position information and the boundary indication information, the processor is specifically configured to:

determining the nearest distance between the unmanned aerial vehicle and the boundary of the flight limiting area according to the position information and the boundary indication information;

determining a maximum flight limit speed in a vector direction of the closest distance;

and generating a flight limiting instruction for limiting the speed of the unmanned aerial vehicle according to the maximum flight limiting speed, wherein the flight limiting instruction does not change the speed direction of the unmanned aerial vehicle.

Optionally, the flight limitation instructions comprise a first flight limitation instruction in a vector direction of the closest distance and a second flight limitation instruction perpendicular to the vector direction.

Optionally, the flight control device may further include a transceiver, and the transceiver is configured to transmit data to the control terminal, for example, the transceiver may receive flight attribute information of the target flight restriction area sent by the control terminal, and for example, the transceiver may send the first abnormality notification message to the control terminal.

The flight control device shown in fig. 7 can execute the method of the embodiment shown in fig. 1 to 6, and the detailed description of this embodiment can refer to the related description of the embodiment shown in fig. 1 to 6. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 6, and are not described herein again.

As shown in fig. 8, the drone includes: the device comprises a machine body 21, a power system 22 arranged on the machine body 21 and a processor 24 arranged on the machine body 21.

Wherein, driving system 22 is used for providing power for unmanned aerial vehicle.

The processor 24 is configured to obtain position information acquired by the positioning sensor; acquiring boundary indication information of a target flight limiting area, which is sent by a control terminal; and controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area.

The power system 22 of the drone may include an electronic governor, one or more rotors, and one or more motors corresponding to the one or more rotors.

Other devices (not shown in the figure) such as an inertial measurement unit may also be provided on the drone, not listed here.

In addition, the embodiment of the present invention further provides a computer-readable storage medium, where executable codes are stored in the computer-readable storage medium, and the executable codes are used for implementing the flight control method provided in each of the foregoing embodiments.

The technical solutions and the technical features in the above embodiments may be used alone or in combination without conflict, and all embodiments that fall within the scope of the present invention are equivalent embodiments within the scope of the present invention as long as they do not exceed the knowledge of those skilled in the art.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flight control method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a positioning sensor, and the method is characterized by comprising the following steps:

acquiring position information acquired by the positioning sensor;

2. The method of claim 1, further comprising:

the controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in the flight restriction area or flying out of the flight restriction area includes:

3. The method of claim 2, wherein said controlling the drone to prohibit the drone from flying in the target flight restriction area according to the location information and the boundary indication information of the flight restriction area comprises:

and if so, forbidding the unmanned aerial vehicle to take off.

4. The method of claim 3, wherein the controlling the drone to prohibit the drone from flying in the target flight restriction area according to the location information and the boundary indication information of the flight restriction area, further comprises:

5. The method of claim 2, wherein said controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the location information and the boundary indication information of the flight restriction area comprises:

6. The method of claim 5, wherein said controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the location information and boundary indication information of the flight restriction area, further comprises:

and if not, forbidding the unmanned aerial vehicle to take off.

7. The method according to any one of claims 1-6, further comprising:

the controlling the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in or out of the target flight restriction area includes:

8. The method of claim 7, wherein obtaining the tree structure relationship of the plurality of flight restriction regions comprises:

9. The method of claim 8, further comprising:

10. The method of claim 7, wherein obtaining the tree structure relationship of the plurality of flight restriction regions comprises:

11. The method of claim 10, further comprising:

and if so, sending fourth abnormal prompt information to the control terminal.

12. The method according to any one of claims 7-11, wherein the flight restriction areas at the same level in the tree structure relationship do not overlap each other, and the flight attributes of the flight restriction areas at the same level are the same.

13. The method of claim 12, wherein obtaining the tree structure relationship of the plurality of flight restriction regions comprises:

the method further comprises the following steps:

and if not, sending sixth abnormal prompt information to the control terminal.

14. The method of claim 1, wherein the controlling the drone to prohibit the drone from flying in or out of the target flight-restriction area comprises:

15. The method of claim 5 or 14, wherein determining flight limitation instructions based on the position information and the boundary indication information comprises:

16. The method of claim 15, wherein the flight limit instructions include a first flight limit instruction along a vector direction of the closest distance and a second flight limit instruction perpendicular to the vector direction.

17. A flight control device is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a positioning sensor, and is characterized by comprising a memory and a processor; wherein the memory has stored thereon executable code that, when executed by the processor, causes the processor to:

acquiring position information acquired by the positioning sensor;

18. The apparatus of claim 17, wherein the processor is further configured to:

the processor controls the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area, so that when the unmanned aerial vehicle is prohibited to fly in the flight restriction area or fly out of the flight restriction area, the processor is specifically configured to:

19. The apparatus of claim 18, wherein the processor controls the drone according to the location information and the boundary indication information of the flight restriction area to prohibit the drone from flying in the target flight restriction area, and is specifically configured to:

and if so, forbidding the unmanned aerial vehicle to take off.

20. The apparatus of claim 19, wherein the processor controls the drone to prohibit the drone from flying in the target flight restriction area according to the location information and boundary indication information of the flight restriction area, and is further configured to:

21. The apparatus of claim 18, wherein the processor is configured to, when controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the location information and the boundary indication information of the flight restriction area, in particular:

22. The apparatus of claim 21, wherein the processor is further configured to, when controlling the drone to prohibit the drone from flying out of the target flight restriction area according to the location information and boundary indication information of the flight restriction area:

and if not, forbidding the unmanned aerial vehicle to take off.

23. The apparatus according to any of claims 17-22, wherein the processor is further configured to:

the processor controls the unmanned aerial vehicle according to the position information and the boundary indication information of the flight restriction area to prohibit the unmanned aerial vehicle from flying in the target flight restriction area or flying out of the target flight restriction area, and is specifically configured to:

24. The apparatus as claimed in claim 23, wherein the processor, when obtaining the tree structure relationship of the plurality of flight restriction regions, is specifically configured to:

25. The apparatus of claim 24, wherein the processor is further configured to:

26. The apparatus as claimed in claim 23, wherein the processor, when obtaining the tree structure relationship of the plurality of flight restriction regions, is specifically configured to:

27. The apparatus of claim 26, wherein the processor is further configured to:

and if so, sending fourth abnormal prompt information to the control terminal.

28. The apparatus according to any of claims 23-27, wherein the flight restriction areas at the same level in the tree structure relationship do not overlap each other, and the flight attributes of the flight restriction areas at the same level are the same.

29. The apparatus as claimed in claim 28, wherein the processor, when obtaining the tree structure relationship of the plurality of flight restriction regions, is specifically configured to:

the processor is further configured to:

and if not, sending sixth abnormal prompt information to the control terminal.

30. The apparatus of claim 17, wherein the processor controls the drone to prohibit the drone from flying in or out of the target flight-restriction area, in particular to:

31. The apparatus according to claim 21 or 30, wherein the processor, when determining flight limitation instructions based on the position information and the boundary indication information, is configured to:

32. The apparatus of claim 31, wherein the flight restriction instructions comprise a first flight restriction instruction along a vector direction of the closest distance and a second flight restriction instruction perpendicular to the vector direction.

33. An unmanned aerial vehicle, comprising:

a body;

and a flight control device as claimed in any one of claims 17 to 32, provided on the fuselage.

34. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the flight control method according to any one of claims 1 to 16.