CN111381602B

CN111381602B - Unmanned aerial vehicle flight control method and device and unmanned aerial vehicle

Info

Publication number: CN111381602B
Application number: CN201811640130.6A
Authority: CN
Inventors: 桑云
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2023-09-19
Anticipated expiration: 2038-12-29
Also published as: CN111381602A

Abstract

The application discloses a method and device for controlling unmanned aerial vehicle to fly and an unmanned aerial vehicle, and belongs to the field of intelligent analysis. According to the method for controlling the unmanned aerial vehicle to fly, when the unmanned aerial vehicle arrives in the current period, the set flight limiting area, the first position, the flight speed and the flight direction are obtained, and the second position where the unmanned aerial vehicle is expected to arrive in the next period is determined based on the first position, the flight speed and the flight direction. And when the second position is located outside the allowed flight area, determining a third position based on the flight limiting area and the second position, and controlling the unmanned aerial vehicle to fly to the third position. According to the method, the unmanned aerial vehicle is controlled to fly in the direction close to the allowed flight area, the unmanned aerial vehicle is limited to be far away from the allowed flight area, a certain reaction time is reserved for a user under the condition that the user mistakenly sets the flight limiting area, the flight limiting area is reset, the time for the unmanned aerial vehicle to fly back to an initial route is shortened, and the flight efficiency of the unmanned aerial vehicle is improved.

Description

Unmanned aerial vehicle flight control method and device and unmanned aerial vehicle

Technical Field

The application relates to the field of intelligent analysis. In particular to a method and a device for controlling unmanned aerial vehicle to fly and the unmanned aerial vehicle.

Background

With the development of unmanned aerial vehicle related technologies in recent years, unmanned aerial vehicles are becoming more and more popular in civilian applications. Unmanned aerial vehicles can be applied in many contexts in civilian use, for example in aerial photography. In order to ensure safety, a flight restriction area is generally set for the unmanned aerial vehicle, and the control device controls the unmanned aerial vehicle to fly based on the flight restriction area. The flight limiting area comprises an electronic fence, a limited flight area and a no-fly area. The electronic fence is used for limiting a flight area and limiting the unmanned aerial vehicle to fly in the flight area. However, in practical applications, a situation may occur in which a flight restriction area is set by mistake, resulting in deviation of the unmanned aerial vehicle from the route.

For example, assuming that the user misplaces one electronic fence, no one has the opportunity to fly directly from the current location into the misplaced electronic fence. When the user realizes that the electronic fence is set incorrectly, the unmanned aerial vehicle may fly away from the initial route towards the wrong electronic fence; the user may have to spend a long time controlling the drone to fly back to the original course.

Disclosure of Invention

The embodiment of the application provides a method and a device for controlling unmanned aerial vehicle flight and an unmanned aerial vehicle, which can solve the problem that the unmanned aerial vehicle is far away from an initial route due to incorrect setting of a flight limiting area in the unmanned aerial vehicle flight process. The technical scheme is as follows:

In a first aspect, a method of controlling a flight of a drone is provided, the method comprising:

when the current period arrives, acquiring a set flight limiting area, and acquiring the current first position, the flight speed and the flight direction of the unmanned aerial vehicle;

determining a second position expected to be reached by the unmanned aerial vehicle in a next period based on the current first position, the flight speed and the flight direction of the unmanned aerial vehicle;

determining a third location based on the flight restriction area and the second location when the second location is outside of the allowed flight area defined by the flight restriction area, the third location being closer to the allowed flight area than the second location;

and controlling the unmanned aerial vehicle to fly to the third position.

In one possible implementation, the determining the third location based on the flight restricted area and the second location when the second location is outside of the allowed flight area defined by the flight restricted area includes:

determining a first boundary point on a boundary of the flight restriction area, the first boundary point being closest to the first location, when the second location is outside of an allowable flight area defined by the flight restriction area; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining the third location based on the third vector and the fourth vector; or (b)

And when the second position is located outside the allowed flight area defined by the flight limiting area, determining a second boundary point closest to the second position on the boundary of the flight limiting area, and determining the second boundary point as the third position.

In another possible implementation, the determining the third location based on the flight restriction area and the second location when the second location is outside of the allowed flight area defined by the flight restriction area includes:

determining a first boundary point on the boundary of the flight restricted area, the first boundary point being closest to the first position, when the second position is located outside an allowable flight area defined by the flight restricted area and the closest distance between the second position and the boundary of the flight restricted area is greater than a set threshold; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining the third location based on the third vector and the fourth vector;

And when the second position is located outside an allowable flight area defined by the flight limiting area and the nearest distance between the second position and the boundary of the flight limiting area is smaller than the set threshold value, determining a second boundary point closest to the second position on the boundary of the flight limiting area, and determining the second boundary point as the third position.

In another possible implementation manner, the determining the third position based on the third vector and the fourth vector includes:

when the flight restriction area is an electronic fence, determining an end position of the fourth vector as the third position if the direction of the third vector is the same as the direction of the first vector; and if the direction of the third vector is opposite to the direction of the first vector, determining the second position as the third position.

when the flight limiting area is a no-fly zone or the flight limiting area is a limited-fly zone, and a first projection point of the first position on the ground is outside the limited-fly zone and a second projection point of the second position on the ground is inside the limited-fly zone, but a second height of the second position from the ground exceeds a limited height of the limited-fly zone, if the direction of the third vector is the same as the direction of the first vector, determining the second position as the third position; and if the direction of the third vector is opposite to the direction of the first vector, determining the end position of the fourth vector as the third position.

In another possible implementation, the determining a third location based on the flight restriction area and the second location includes:

when the flight limiting area is a flight limiting area, a first projection point of the first position on the ground and a second projection point of the second position on the ground are both in the flight limiting area, and a second height of the second position point from the ground exceeds a limiting height of the flight limiting area, if the first height of the first position from the ground is not higher than the second height, determining the third position below the first position; and if the first height is higher than the second height, determining the second position as the third position.

In another possible implementation manner, before the controlling the unmanned aerial vehicle to fly to the third position, the method further includes:

determining whether there is an obstacle between the first location and the third location;

executing the step of controlling the flight of the unmanned aerial vehicle to the third position when no obstacle exists between the first position and the third position;

determining a fifth position according to the first position, the third position, the flight limiting area and a fourth position of the obstacle when the obstacle exists between the first position and the third position, and controlling the unmanned aerial vehicle to fly to the fifth position, wherein the fifth position is different from the third position and is close to the flight allowing area compared with the second position; and controlling the unmanned aerial vehicle to fly to the fifth position.

In a second aspect, there is provided an apparatus for controlling the flight of a drone, the apparatus comprising:

the limit data management module is used for acquiring a set flight limit area when the current period arrives;

the navigation module is used for acquiring the current first position, flight speed and flight direction of the unmanned aerial vehicle when the current period arrives

The guidance module is used for determining a second position expected to be reached by the unmanned aerial vehicle in the next period based on the current first position, the flight speed and the flight direction of the unmanned aerial vehicle;

a flight restriction processing module configured to determine a third location based on the flight restriction region and the second location when the second location is outside of a permitted flight region defined by the flight restriction region, the third location being closer to the permitted flight region than the second location;

and the flight control module is used for controlling the unmanned aerial vehicle to fly to the third position.

In a possible implementation manner, the flight restriction processing module is further configured to determine, when the second location is located outside an allowable flight area defined by the flight restriction area, a first boundary point closest to the first location on a boundary of the flight restriction area; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining the third location based on the third vector and the fourth vector; or (b)

The flight restriction processing module is further configured to determine a second boundary point closest to the second location on a boundary of the flight restriction area when the second location is located outside an allowable flight area defined by the flight restriction area, and determine the second boundary point as the third location.

In another possible implementation manner, the flight restriction processing module is further configured to determine a first boundary point on a boundary of the flight restriction area that is closest to the first location when the second location is located outside an allowable flight area defined by the flight restriction area and a closest distance between the second location and the boundary of the flight restriction area is greater than a set threshold; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining the third location based on the third vector and the fourth vector;

The flight restriction processing module is further configured to determine a second boundary point closest to the second position on the boundary of the flight restriction area when the second position is located outside an allowable flight area defined by the flight restriction area and a closest distance between the second position and the boundary of the flight restriction area is smaller than the set threshold, and determine the second boundary point as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to, when the flight restriction area is an electronic fence, determine, as the third position, an end position of the fourth vector if the direction of the third vector is the same as the direction of the first vector; and if the direction of the third vector is opposite to the direction of the first vector, determining the second position as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to determine, when the flight restriction area is a no-fly zone, or the flight restriction area is a restricted flight zone, and a first projection point of the first location on the ground is outside the restricted flight zone and a second projection point of the second location on the ground is inside the restricted flight zone, but a second height of the second location from the ground exceeds a restricted height of the restricted flight zone, the second location as the third location if a direction of the third vector and a direction of the first vector are the same; and if the direction of the third vector is opposite to the direction of the first vector, determining the end position of the fourth vector as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to determine the third position below the first position when the flight restriction area is a flight restriction area and the first projection point of the first position on the ground and the second projection point of the second position on the ground are both within the flight restriction area and the second height of the second position point from the ground exceeds the restriction height of the flight restriction area, if the first height of the first position from the ground is not higher than the second height; and if the first height is higher than the second height, determining the second position as the third position.

In another possible implementation, the navigation module is further configured to determine whether there is an obstacle between the first location and the third location;

the flight control module is further used for controlling the unmanned aerial vehicle to fly to the third position when no obstacle exists between the first position and the third position;

the flight restriction processing module is further configured to determine a fifth position according to the first position, the third position, the flight restriction area, and a fourth position of the obstacle when there is an obstacle between the first position and the third position, and control the unmanned aerial vehicle to fly toward the fifth position, where the fifth position is different from the third position, and the fifth position is closer to the flight permission area than the second position;

And the flight control module is also used for controlling the unmanned aerial vehicle to fly to the fifth position.

In a third aspect, there is provided a drone, the drone comprising:

a processor and a memory having stored therein at least one instruction, at least one program, code set or instruction set loaded and executed by the processor to implement the operations performed in the method of controlling a drone flight of any of the first aspects.

In a fourth aspect, there is provided a computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes or a set of instructions, the programs, the set of codes or the set of instructions being loaded and executed by a processor to implement the operations performed in the method of controlling a drone of any of the first aspects.

The technical scheme provided by the embodiment of the application has the beneficial effects that:

according to the method for controlling the unmanned aerial vehicle to fly, when the unmanned aerial vehicle arrives in the current period, the set flight limiting area, the first position, the flight speed and the flight direction are obtained, and the second position where the unmanned aerial vehicle is expected to arrive in the next period is determined based on the first position, the flight speed and the flight direction. And when the second position is located outside the allowed flight area defined by the flight limiting area, determining a third position based on the flight limiting area and the second position, wherein the third position is close to the allowed flight area compared with the second position, and controlling the unmanned aerial vehicle to fly to the third position. According to the method, the unmanned aerial vehicle is controlled to fly in the direction close to the allowed flight area, the unmanned aerial vehicle is limited to fly away from the allowed flight area, the unmanned aerial vehicle is prevented from flying away from the route under the condition that the user mistakenly sets the flight limiting area, a certain response time is reserved for the user, the flight limiting area is reset, the time for the unmanned aerial vehicle to fly back to the initial route is shortened, and the flight efficiency of the unmanned aerial vehicle is improved.

Drawings

Fig. 1 is a schematic diagram of a system architecture for controlling flight of a unmanned aerial vehicle according to an embodiment of the present application;

FIG. 2 is a schematic view of an electronic fence in a flight restriction area according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a flight restricted area as a no-fly zone according to an embodiment of the present application;

FIG. 4 is a schematic illustration of a flight restriction zone according to an embodiment of the present application;

fig. 5 is a schematic diagram of another system architecture for controlling the flight of a drone according to an embodiment of the present application;

fig. 6 is a schematic diagram of another system architecture for controlling the flight of a drone according to an embodiment of the present application;

fig. 7 is a flowchart of a method for controlling a flight of a unmanned aerial vehicle according to an embodiment of the present application;

fig. 8 is a flowchart of a method for controlling a flight of a unmanned aerial vehicle according to an embodiment of the present application;

FIG. 9 is a top view of a flight zone provided by an embodiment of the present application;

FIG. 10 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 11 is a side view of an electronic fence, an automatic fly-back area, and a fly-back only area provided by an embodiment of the present application;

FIG. 12 is a schematic diagram of a determination of a set threshold value provided by an embodiment of the present application;

FIG. 13 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 14 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 15 is a schematic illustration of a determination of a third position provided by an embodiment of the present application;

FIG. 16 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 17 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 18 is a schematic illustration of determining a third position provided by an embodiment of the present application;

FIG. 19 is a schematic illustration of a determination of a third position provided by an embodiment of the present application;

FIG. 20 is a schematic illustration of a determination of a third position provided by an embodiment of the present application;

FIG. 21 is a schematic illustration of a determination of a fifth location provided by an embodiment of the present application;

fig. 22 is a schematic diagram of a flight path of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 23 is a schematic diagram of a flight path of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 24 is a schematic view of a flight path of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 25 is a structural block diagram of a unmanned aerial vehicle provided by an embodiment of the present application.

Detailed Description

In order to make the technical scheme and advantages of the present application more clear, the following further describes the embodiments of the present application in detail.

During the flight process, the unmanned aerial vehicle may fly out of the allowed flight area specified by the flight limiting area due to the loss of satellite navigation positioning signals; or because the user misplaces a flight restriction area, the drone appears outside the allowed flight area defined by the misplaced flight restriction area. According to the existing mechanism, the unmanned aerial vehicle flies into the allowed flight area defined by the flight limiting area under the two conditions; in the latter case, however, the unmanned aerial vehicle flying in the direction of the erroneously set allowed flight area will cause the flight direction to deviate from the original course, a result which is clearly not intended by the user. Therefore, the application provides a solution, which can ensure that the unmanned aerial vehicle flies in a direction approaching to the allowed flight area, and simultaneously slow down the flight trend of the unmanned aerial vehicle in the allowed flight area, so that a user is given a certain response time to confirm whether the flight limiting area is set by mistake, and the unmanned aerial vehicle can be controlled to fly back to the initial route as soon as possible under the condition of confirming the wrong setting.

The system architecture according to the present application will be described first.

An embodiment of the present application provides a system architecture for controlling unmanned aerial vehicle flight, referring to fig. 1, the system architecture includes a control device 10 and an unmanned aerial vehicle 20. The control device 10 and the drone 20 may be connected through a wireless network. The control device 10 is configured to set a flight restriction area, and the unmanned aerial vehicle 20 flies within an allowable flight area defined by the flight restriction area based on the set flight restriction area.

The shape of the flight restriction area may be any shape, for example, the shape of the flight restriction area may be a circle, a polygon, an ellipse, or the like. In the embodiment of the present application, the flight restriction area and the shape of the flight restriction area are not particularly limited.

The flight limiting area can be an electronic fence, a no-fly zone or a limited-fly zone. The electronic fence is used to limit the flight of the drone 20 within the electronic fence, and only one electronic fence can be in effect at a time. The no-fly zone is a no-fly zone, and the limited-fly zone is a zone for limiting the flying height and the flying speed of the unmanned aerial vehicle 20, wherein the flying height of the unmanned aerial vehicle 20 is not greater than the limited height and the flying speed is not greater than the limited speed in the zone.

Referring to fig. 2, when the flight limiting area is an electronic fence, the flight allowable area defined by the electronic fence is an area of the electronic fence, and the area outside the electronic fence is an area where flight is not allowed. Referring to fig. 3, when the flight restricted area is a no-fly zone, the allowable flight area defined by the no-fly zone is an area other than the no-fly zone, and the allowable flight area is an area of the no-fly zone. Referring to fig. 4, when the flight restricted area is a restricted flight area, the restricted flight area is defined by a permitted flight area, a non-permitted flight area, and a restricted flight area, respectively. The unmanned aerial vehicle can fly freely in the allowed flight area. The unmanned aerial vehicle can fly in the limited flight zone, but the flight height is not greater than the limited height of the limited flight zone, and the flight speed is not greater than the limited speed of the limited flight zone. The non-allowed flight area is an area above the limited height of the limited flight area, the unmanned aerial vehicle can only fly downwards in the non-allowed flight area, namely can fly from the non-allowed flight area to the limited flight area, and can not fly from the limited flight area to the non-allowed flight area, but the unmanned aerial vehicle may appear in the non-allowed flight area due to the loss of satellite navigation positioning signals and the like.

The control device 10 may be a controller or a remote control. In the embodiment of the present application, the control apparatus 10 is not particularly limited. The unmanned aerial vehicle 20 may be any type of unmanned aerial vehicle 20, such as a multi-rotor unmanned aerial vehicle 20, a fixed-wing unmanned aerial vehicle 20, an umbrella-wing unmanned aerial vehicle 20, or a ornithopter unmanned aerial vehicle 20, etc. In the embodiment of the present application, the type of the unmanned aerial vehicle 20 is not particularly limited. The unmanned aerial vehicle 20 may be an unmanned aerial vehicle 20 that carries a task, or may be an unmanned aerial vehicle 20 that does not carry a task. When the unmanned aerial vehicle 20 is to carry a task, the unmanned aerial vehicle 20 carrying one task, the unmanned aerial vehicle 20 carrying two tasks, or the unmanned aerial vehicle 20 carrying two or more tasks may be used. In the embodiment of the present application, whether or not the unmanned aerial vehicle 20 is to be loaded with a task and the task amount of the loaded task are not particularly limited.

Referring to fig. 5, the unmanned aerial vehicle 20 includes a guidance module 201, a limit data management module 202, a navigation module 203, a flight limit processing module 204, and a flight control module 205. The output end of the guidance module 201 is connected with the input end of the flight restriction processing module 204, the output end of the restriction data management module 202 is connected with the input end of the flight restriction processing module 204, the output end of the guidance module 203 is respectively connected with the input end of the flight restriction processing module 204 and the input end of the guidance module 201, and the output end of the flight restriction processing module 204 is connected with the flight control module 205.

The navigation module 203 is configured to obtain a current first position, a flight speed and a flight direction of the unmanned aerial vehicle 20, and send the current first position, the flight speed and the flight direction of the unmanned aerial vehicle 20 to the flight restriction processing module 204 and the guidance module 201. The guidance module 201 is configured to determine a second position expected to be reached by the unmanned aerial vehicle 20 in a next cycle according to the current first position, the flight speed and the flight direction of the unmanned aerial vehicle 20, and send the second position to the flight restriction processing module 204. The limit data management module 202 is configured to manage the set flight limit region and, when updating the set flight limit region, configure the updated flight limit region to the flight limit processing module 204. The flight restriction processing module 204 is configured to determine a third position of the unmanned aerial vehicle 20 according to the second position input by the guidance module 201, the flight restriction area set by the restriction data management module 202, and the first position input by the navigation module 203, and send the third position to the flight control module 205, where the third position is closer to the allowed flight area than the second position. The flight control module 205 is configured to receive the third location sent by the flight restriction processing module 204 and control the unmanned aerial vehicle 20 to fly to the third location.

Referring to fig. 6, the flight restriction processing module 204 includes an initialization unit 2041, an information receiving unit 302, and an information fusion processing unit 2043. The input end of the initialization unit 2041 is connected to the output end of the navigation module 203, the output end of the initialization unit 2041 is connected to the input end of the information receiving unit 2042, the output end of the information receiving unit 2042 is connected to the input end of the information fusion processing unit 2043, and the output end of the information fusion processing unit 2043 is connected to the flight control module 205.

The initializing unit 2041 is configured to initialize the first position, the second position, and the flight restriction area of the unmanned aerial vehicle 20 when the system is powered on, so as to ensure the safety of the unmanned aerial vehicle 20. Wherein the third location of the drone 20 is updated in real-time based on the first location, the second location, and the flight restriction area of the drone 20. The information receiving unit 2042 is configured to receive the first position, the second position, and the flight restriction area of the unmanned aerial vehicle 20, which are updated in real time, transmitted by the initializing unit 2041. The information fusion processing unit 2043 is configured to output a third position of the unmanned aerial vehicle 20 according to the first position, the second position, the flight restriction area, the flight speed and the flight direction of the unmanned aerial vehicle 20, and send the output third position to the flight control module 205, and the flight control module 205 controls the unmanned aerial vehicle 20 to fly to the third position.

It should be noted that, in the embodiment of the present application, the unmanned aerial vehicle 20 may control itself to fly, or the control device 10 may control the unmanned aerial vehicle 20 to fly. When the unmanned aerial vehicle 20 is controlled to fly by the control apparatus 10, the unmanned aerial vehicle 20 may not include the above-described guidance module 201, restriction data management module 202, navigation module 203, flight restriction processing module 204, and flight control module 205, and the control apparatus 10 includes the above-described guidance module 201, restriction data management module 202, navigation module 203, flight restriction processing module 204, and flight control module 205.

The embodiment of the application provides a method for controlling unmanned aerial vehicle flight, referring to fig. 7, the method comprises the following steps:

step 701: when the current period arrives, the unmanned aerial vehicle obtains the flight limiting area, and the current first position, flight speed and flight direction of the unmanned aerial vehicle.

Step 702: the unmanned aerial vehicle determines a second position that the unmanned aerial vehicle is expected to arrive in a next cycle based on the current first position, the flight speed and the flight direction of the unmanned aerial vehicle.

Step 703: when the second position is outside the allowed flight area defined by the flight restriction area, the unmanned aerial vehicle determines a third position based on the flight restriction area and the second position, the third position being closer to the allowed flight area than the second position.

Step 704: the unmanned aerial vehicle controls the unmanned aerial vehicle to fly to the third position.

It should be noted that, when the unmanned aerial vehicle is located outside the allowable flight area, the unmanned aerial vehicle is controlled to fly in a direction approaching the allowable flight area in steps 701 to 704, and after step 704 is executed in the next cycle, the next cycle is taken as the current cycle, and steps 701 to 704 are executed. By looping through steps 701 to 704, the drone will eventually reach the boundary of the allowed flight area. When reaching the boundary of the allowed flight area, the unmanned aerial vehicle can be controlled to fly in the allowed flight area by the control device.

The embodiment of the application provides a method for controlling unmanned aerial vehicle flight, referring to fig. 8, the method comprises the following steps:

step 801: the drone determines whether a flight restriction area is set, and when the flight restriction area is set, step 802 is performed.

Before this step, when the control device sets a flight restriction area for the unmanned aerial vehicle, the control device sends a configuration request to the unmanned aerial vehicle, the configuration request carrying area information of the flight restriction area. The unmanned aerial vehicle receives the configuration request and stores the area information of the flight restriction area. Correspondingly, the step of judging whether the flight restriction area is set by the unmanned aerial vehicle may be: the unmanned aerial vehicle determines whether to store the area information of the flight restriction area, and determines that the flight restriction area is set when the area information of the flight restriction area is stored; when the area information of the flight restriction area is not stored, it is determined that the flight restriction area is not set.

It is to be noted that, when the control device updates the flight restriction area, the unmanned aerial vehicle updates the stored area information of the flight restriction area. When the control device cancels the flight restriction area, the unmanned aerial vehicle deletes the stored area information of the flight restriction area.

Another point to be noted is that, when the flight restriction area is not set, the unmanned aerial vehicle flies based on the control of the control device. When the flight restriction area is set, the unmanned aerial vehicle periodically flies based on the flight restriction area through the following step 802.

Step 802: when the current period arrives, the unmanned aerial vehicle obtains the flight limiting area, and the current first position, flight speed and flight direction of the unmanned aerial vehicle.

The unmanned aerial vehicle stores the area information of the flight limiting area, and when the unmanned aerial vehicle arrives in the current period, the unmanned aerial vehicle acquires the area information of the flight limiting area once. The flight limiting area can be an electronic fence, a no-fly zone or a limited-fly zone. The unmanned aerial vehicle can periodically locate in the flight process, obtains the current first position, obtains the flight speed through the speed sensor, and obtains the flight direction through the direction sensor.

When the unmanned aerial vehicle acquires the current first position, determining whether the first position is in an allowed flight area defined by a flight limiting area, and when the first position is in the allowed flight area defined by the flight limiting area, not controlling the unmanned aerial vehicle; when the first location is not within the allowed flight area, step 803 is performed.

When the flight limiting area is the electronic fence, the allowable flight area defined by the flight limiting area is an area in the electronic fence; when the flight limiting area is a no-fly area, the allowed flight area limited by the flight limiting area is an area outside the no-fly area; when the flight limiting area is a limited area, the allowed flight area limited by the flight limiting area is an area below the limited height of the limited area or an area outside the limited area.

Another point to be noted is that the unmanned aerial vehicle may determine in step 802 only the flight restriction area and the current first position of the unmanned aerial vehicle, and determine the current flight direction and the flight speed of the unmanned aerial vehicle when the first position is not in the flight restriction area; when the first position is in the flight restricted area, the current flight direction and flight speed of the unmanned aerial vehicle may be uncertain since the unmanned aerial vehicle is not controlled.

Step 803: the unmanned aerial vehicle determines a second position that the unmanned aerial vehicle is expected to arrive in a next cycle based on the current first position, the flight speed and the flight direction of the unmanned aerial vehicle.

The unmanned aerial vehicle determines a time interval between a next period and a current period, determines a flight distance of the unmanned aerial vehicle in the next period according to the time interval and the flight speed, determines a position point taking the first position as a starting point and taking the flight distance as an interval in the flight direction, and determines the position point as a second position expected to be reached by the unmanned aerial vehicle in the next period.

The unmanned aerial vehicle determines whether the second position is in an allowed flight area defined by the flight limiting area, and when the second position is in the allowed flight area, the unmanned aerial vehicle is controlled to fly to the second position based on the current first position, the flight speed and the flight direction; when the second location is not within the allowed flight area, step 804 is performed.

Step 804: when the second position is outside the allowed flight area defined by the flight restriction area, the unmanned aerial vehicle determines a third position based on the flight restriction area and the second position, the third position being closer to the allowed flight area than the second position.

In one possible implementation, the drone may determine the third location directly from the second location and the flight restriction area by either of the following two implementations.

In a first implementation, the unmanned aerial vehicle determines a first boundary point closest to the first location on a boundary of the flight-restricted area, obtains a first vector from the first boundary point to the first location, and obtains a second vector from the first location to the second location, decomposes the second vector into a third vector parallel to the first vector and a fourth vector perpendicular to the first vector. The drone determines a third location based on the third vector and the fourth vector.

In a second implementation, the unmanned aerial vehicle determines a second boundary point closest to the second location on the boundary of the flight restriction area, and determines the second boundary point as the third location.

In another possible implementation manner, the unmanned aerial vehicle may further determine the third position according to a magnitude relation between the closest distance between the second position and the flight restriction area and the set threshold value through any one of the following two implementation manners.

In a third implementation manner, when the second position is located outside the allowed flight area defined by the flight limiting area and the nearest distance between the second position and the boundary of the flight limiting area is greater than a set threshold value, determining a first boundary point nearest to the first position on the boundary of the flight limiting area; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; the second vector is decomposed into a third vector parallel to the first vector and a fourth vector perpendicular to the first vector. The drone determines a third location based on the third vector and the fourth vector.

In a fourth implementation manner, when the second location is located outside the allowed flight area defined by the flight restriction area and the closest distance between the second location and the boundary of the flight restriction area is smaller than the set threshold value, a second boundary point closest to the second location is determined on the boundary of the flight restriction area, and the second boundary point is determined as the third location.

It should be noted that the unmanned aerial vehicle may or may not determine the third position according to the magnitude relation between the closest distance between the second position and the boundary of the flight restricted area and the set threshold value. In the embodiment of the present application, this is not particularly limited.

In one possible implementation, when the flight limited area is an electronic fence, the allowed flight area is then the area of the electronic fence, and the disallowed flight area is the area outside the electronic fence. If the second location is located in an automatic fly-back area outside the electronic fence, the drone may determine the third location according to the second implementation or the fourth implementation. For example, the drone determines the third location according to the second implementation.

The automatic fly-back area may be a spatially-wide area outside the electronic fence. The range of the electronic fence can be larger than the range of the automatic fly-back area, can be equal to the range of the automatic fly-back area, and can be smaller than the range of the automatic fly-back area. In the embodiment of the present application, the range of the electronic fence and the range of the automatic fly-back area are not particularly limited.

The electronic fence can be a circular area, a polygonal area or an elliptical area. In the embodiment of the present application, the electronic fence is not particularly limited. For example, when the electronic fence is octagonal, the top view of the electronic fence is seen in fig. 9. The automatic fly-back region may be a region of any shape, such as a ring-shaped region. In the embodiment of the present application, the automatic fly-back area is not particularly limited. For example, the electronic fence is a circular area, the automatic fly-back area is an annular area outside the electronic fence, and when the second position is in the automatic fly-back area, the first position may or may not be in the automatic fly-back area. When both the first position and the second position are within the automatic fly-back region, see fig. 10. The first position is indicated by the point a and the second position by the point B. And the unmanned aerial vehicle determines a second boundary point closest to the second position on the boundary of the electronic fence according to the second position, and takes the second boundary point as a third position, wherein the third position is represented by a point C.

In one possible implementation, when the flight limited area is an electronic fence, the allowed flight area is then the area of the electronic fence, and the disallowed flight area is the area outside the electronic fence. The area outside the automatic fly-back area is referred to as a fly-back only area, and when the second position is not in the automatic fly-back area and is not in the electronic fence, the unmanned aerial vehicle determines that the second position is in the fly-back only area. When the area outside the electronic fence and adjacent to the boundary of the electronic fence is an automatic fly-back area, and the area outside the automatic fly-back area is a fly-back only area, the side view is shown in fig. 11.

When the second location is within the boomerang only region, the drone may determine the third location according to the first implementation or the third implementation described above. For example, the drone determines a third location according to a third implementation, i.e., when the closest distance between the second location and the boundary of the electronic fence is greater than a set threshold, determines a first boundary point on the boundary of the electronic fence that is closest to the first location. Acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; the second vector is decomposed into a third vector and a fourth vector, wherein the third vector is parallel to the first vector and the fourth vector is perpendicular to the first vector. The drone determines a third location based on the third vector and the fourth vector.

The set threshold may be set and changed as needed, and in the embodiment of the present application, this is not particularly limited. For example, when the electronic fence is a circular area, the automatic back-off area is an annular area uniformly distributed outside the electronic fence, and the center of the automatic back-off area is the same as the center of the electronic fence, and the back-off area is an area other than the automatic back-off area, the set threshold may be a difference between the distance from the center of the automatic back-off area to the boundary point of the automatic back-off area and the radius of the electronic fence, see fig. 12. I.e. when the closest distance between the second position and the boundary of the electronic fence is larger than the difference, the third position is determined based on the third vector and the fourth vector described above.

When the flight limited area is an electronic fence, the unmanned aerial vehicle may determine the third position based on the third vector and the fourth vector by:

if the direction of the third vector is the same as the direction of the first vector, the unmanned plane determines the end position of the fourth vector as a third position; if the direction of the third vector is opposite to the direction of the first vector, the drone determines the second location as the third location.

The first location is indicated by the D point, the second location is indicated by the E point, and the first boundary point is indicated by the F point.For the first vector, ++>For the second vector, will ∈>Break down into->And->Wherein->For the third vector, +>Is the fourth vector. When (when)Direction and +.>When the directions of (a) are the same, the unmanned plane will +.>The end position of (a) i.e. the position of the H point is determined as the third position, see fig. 13.

The first location is indicated by the D point, the second location is indicated by the E point, and the first boundary point is indicated by the F point.For the first vector, ++>For the second vector, will ∈>Break down into->And->Wherein->For the third vector, +>Is the fourth vector. When->Direction and +.>When the direction of the E point is reversed, the drone determines the position of the E point as the third position, see fig. 14.

It should be noted that, when the first position is acquired for the first time and the first position is in the electronic fence, the unmanned aerial vehicle cannot fly from the unmanned aerial vehicle to an area other than the automatic fly-back area. However, when the unmanned aerial vehicle temporarily loses the satellite navigation positioning signal within a certain period of time, the unmanned aerial vehicle may appear in an automatic fly-back area and a fly-back area, wherein the fly-back area is an electronic fence and all areas except the automatic fly-back area.

When the flight restricted area is a no-fly zone or a restricted-flight zone, the third location may be determined by the following implementation.

When the flight restriction area is a no-fly zone, the allowable flight area defined by the no-fly zone is an area other than the no-fly zone. When the current first position of the unmanned aerial vehicle is in the allowed flight area and the second position is in the no-fly area, the directions of the third vector and the first vector are opposite, and the end position of the fourth vector is determined to be the third position. The first location is indicated by the D point, the second location is indicated by the E point, and the first boundary point is indicated by the F point.For the first vector, ++>For the second vector, will ∈>Is decomposed intoAnd->Wherein->For the third vector, +>Is the fourth vector. When->Direction and +.>When the directions of (2) are opposite, the unmanned plane will be fourth vector +.>The end position of (a) i.e. the position of the H point is determined as the third position, see fig. 15. If the third vector and the first vector are in opposite directions, the second position is determined to be the third position.

When the current first position and the current second position of the unmanned aerial vehicle are both located in the allowed flight area, if the front is the no-fly zone, the unmanned aerial vehicle is controlled to be far away from the no-fly zone. That is, if the direction of the third vector is the same as the direction of the first vector, the second position is determined as the third position, see fig. 16. If the directions of the third vector and the first vector are opposite, the end position of the fourth vector is determined as the third position, see fig. 17. When the current first position and the current second position of the unmanned aerial vehicle are both located in the no-fly zone, the unmanned aerial vehicle is controlled to fly towards the near allowed flight zone away from the no-fly zone. The processing procedure is the same as that described above, and will not be described again here.

When the flight restricted area is a restricted area, in one possible implementation, when the first projection point of the first position on the ground is outside the restricted area, the second projection point of the second position on the ground is inside the restricted area, but the second height of the second position from the ground exceeds the restricted height of the restricted area, if the current first position of the unmanned plane is in the allowed flight area, the second position is in the disallowed flight area, if the direction of the third vector andthe direction of the first vector is opposite, and the end position of the fourth vector is determined as the third position. The first location is indicated by the D point, the second location is indicated by the E point, and the first boundary point is indicated by the F point.For the first vector, ++>For the second vector, will ∈>Break down into->And->Wherein->As a result of the third vector being the one,is the fourth vector. When->Direction and +.>When the directions of (2) are opposite, the unmanned plane will be fourth vector +.>The position of the terminal position of (a) i.e. the position of the H point is determined as the third position, see fig. 18.

When the flight limiting area is a limited flight zone, in another possible implementation manner, when a first projection point of the first position on the ground and a second projection point of the second position on the ground are both outside the limited flight zone, the current flight height of the unmanned aerial vehicle exceeds the limit height of the limited flight zone, and then the unmanned aerial vehicle is controlled to be far away from the area above the limited flight zone. I.e. if the direction of the third vector is the same as the direction of the first vector, the second position is determined to be the third position. If the direction of the third vector is opposite to the direction of the first vector, the end position of the fourth vector is determined as the third position. Both the situations are the same as the situation that the first position and the second position of the unmanned aerial vehicle are in the allowed flight area and the front is the no-fly area, and reference may be made to fig. 16 and 17, which are not repeated here.

When the flight limitation area is a limited area, in another possible implementation, when the first projection point of the first position on the ground and the second projection point of the second position on the ground are both in the limited area, and the second height of the second position from the ground exceeds the limited height of the limited area, if the first height of the first position from the ground is not higher than the second height, the third position is determined below the first position. The first position is indicated by the D point, the second position is indicated by the E point, and the third position is indicated by the P point, see fig. 19; if the first height is greater than the second height, the second position is determined to be the third position. The first position is indicated by the D point, the second position is indicated by the E point, and the third position is indicated by the P point, see fig. 20.

Another point to be noted is that when step 804 is performed, the drone may directly perform the step of controlling the drone to fly to the third location in step 806. The unmanned aerial vehicle may also first detect that there is no obstacle between the first position and the third position through step 805, and then execute step 806, thereby further improving safety.

Step 805: the drone determines whether there is an obstacle between the first location and the third location.

Installing an obstacle sensor in the unmanned aerial vehicle; before the unmanned aerial vehicle flies to the third position, detecting whether an obstacle exists between the first position and the third position through the obstacle sensor, and executing step 806 when the obstacle exists between the first position and the third position; when there is an obstacle between the first position and the third position, step 807 is performed.

The obstacle may be any object, for example, the obstacle may be a building, a tree, an automobile, or the like. In the embodiment of the present application, the obstacle is not particularly limited.

Step 806: when no obstacle exists between the first position and the third position, the unmanned aerial vehicle controls the unmanned aerial vehicle to fly to the third position.

When no obstacle exists between the first position and the third position, the unmanned aerial vehicle flies to the third position based on the third position, and accordingly flies from the first position to the third position close to the flight permission area.

Step 807: when an obstacle exists between the first position and the third position, the unmanned aerial vehicle determines a fifth position according to the first position, the third position, the flight limiting area and a fourth position of the obstacle, and the fifth position is close to the flight allowing area compared with the second position.

When there is an obstacle between the first position and the third position, the drone determines a fifth position, the fifth position is closer to the allowed flight area than the second position, and the fifth position is different from the third position. Wherein the drone may select a fifth location in the area between the third location and the flight restricted area that is capable of bypassing the fourth location and approaching the allowed flight area, see fig. 21. The first position is indicated by the L point, the third position is indicated by the K point, the fourth position is indicated by the M point, and the fifth position is indicated by the N point.

The region where the fifth position is located and the region where the third position is located may be the same or different. Preferably, the area where the fifth position is located is the same as the area where the third position is located. When the flight limiting area is the electronic fence and the area where the fifth position is located is the same as the area where the third position is located, when the third position is the end position of the fourth vector, the fifth position can be a position near the end position of the fourth vector and close to the electronic fence, and at the moment, the flight control module controls the unmanned aerial vehicle to fly to the fifth position near the flight area. When the third position is a position directly determined by the second position, the fifth position may be a position near the second position near the electronic fence, and the flight control module controls the unmanned aerial vehicle to fly to the fifth position near the electronic fence. In the embodiment of the present application, the fifth position is not particularly limited.

Step 808: the unmanned aerial vehicle controls the unmanned aerial vehicle to fly to the fifth position.

The unmanned aerial vehicle sends a third acquisition request to a navigation module in the unmanned aerial vehicle, wherein the third acquisition request is used for acquiring a fifth position of the unmanned aerial vehicle, and the navigation module sends the fifth position to the unmanned aerial vehicle after receiving the third acquisition request; the unmanned aerial vehicle receives a fifth position sent by the navigation module; controlling the unmanned aerial vehicle to fly to a fifth position close to the allowed flight area according to the first position and the fifth position.

It should be noted that, when the next cycle is entered, the unmanned aerial vehicle directly executes step 802 with the next cycle as the current cycle.

Another point to be noted is that, in the embodiment of the present application, by continuously performing all or part of the steps 801 to 808, the unmanned aerial vehicle gradually approaches the allowable flight area, and finally reaches the boundary of the allowable flight area, and the unmanned aerial vehicle hovers over the boundary of the allowable flight area. When the unmanned aerial vehicle hovers over the boundary of the allowed flight area, the unmanned aerial vehicle may be controlled by a control device to fly within the allowed flight area.

When the flight limiting area is the electronic fence, the area of the electronic fence is the allowed flight area, the unmanned aerial vehicle controls the unmanned aerial vehicle to gradually approach the electronic fence, and the flight track of the unmanned aerial vehicle gradually approaches the electronic fence from the disallowed flight area can be seen in fig. 22. When the flight limiting area is a no-fly area, the area outside the no-fly area is an allowed-fly area, the unmanned plane controls the unmanned plane to gradually get away from the no-fly area, and the flight track close to the allowed-fly area can be seen in fig. 23. When the flight limitation area is a limited flight area, and when the flight height of the unmanned aerial vehicle exceeds the limited flight area and is above the limited flight area, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle to forcedly drop below the limited flight area, and the flight track of the process can be seen in fig. 24. The first position of the drone in figures 22, 23 and 24 is indicated by the D point and the final position by the Z point.

The embodiment of the application provides a device for controlling unmanned aerial vehicle flight, which is applied to unmanned aerial vehicles and is used for executing the steps executed by the unmanned aerial vehicle in the method for controlling unmanned aerial vehicle flight. The device comprises:

the navigation module is used for acquiring the current first position, flight speed and flight direction of the unmanned aerial vehicle when the current period arrives;

a flight restriction processing module configured to determine a third location based on the flight restriction region and the second location when the second location is outside of the allowable flight region defined by the flight restriction region, the third location being closer to the allowable flight region than the second location;

In one possible implementation, the flight restriction processing module is further configured to determine a first boundary point on a boundary of the flight restriction area that is closest to the first location; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining a third location based on the third vector and the fourth vector; or, a second boundary point nearest to the second position is determined on the boundary of the flight restriction area, and the second boundary point is determined as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to determine a first boundary point closest to the first location on the boundary of the flight restriction area when the second location is located outside the allowed flight area defined by the flight restriction area and the closest distance between the second location and the boundary of the flight restriction area is greater than a set threshold; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining a third location based on the third vector and the fourth vector;

and the flight limitation processing module is further used for determining a second boundary point closest to the second position on the boundary of the flight limitation area when the second position is located outside the allowed flight area defined by the flight limitation area and the closest distance between the second position and the boundary of the flight limitation area is smaller than a set threshold value, and determining the second boundary point as a third position.

In another possible implementation manner, the flight restriction processing module is further configured to, when the flight restriction area is an electronic fence, determine an end position of the fourth vector as the third position if the direction of the third vector is the same as the direction of the first vector; if the direction of the third vector is opposite to the direction of the first vector, the second position is determined as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to determine, when the flight restriction area is a no-fly zone, or the flight restriction area is a restricted-fly zone, and the first projection point of the first location on the ground is outside the restricted-fly zone, and the second projection point of the second location on the ground is inside the restricted-fly zone, but the second height of the second location from the ground exceeds the restricted height of the restricted-fly zone, if the direction of the third vector is the same as the direction of the first vector, the second location is determined to be the third location; if the direction of the third vector is opposite to the direction of the first vector, the end position of the fourth vector is determined as the third position.

In another possible implementation manner, the flight restriction processing module is further configured to determine, when the flight restriction area is a flight restriction area and the first projection point of the first location on the ground and the second projection point of the second location on the ground are both within the flight restriction area and the second height of the second location point from the ground exceeds the restriction height of the flight restriction area, if the first height is not higher than the second height, a third location below the first location; if the first height is greater than the second height, the second position is determined to be the third position.

the flight control module is also used for controlling the unmanned aerial vehicle to fly to the third position when no obstacle exists between the first position and the third position;

the flight limiting processing module is further used for determining a fifth position according to the first position, the third position, the flight limiting area and a fourth position of the obstacle when the obstacle exists between the first position and the third position, controlling the unmanned aerial vehicle to fly to the fifth position, wherein the fifth position is different from the third position, and the fifth position is close to the flight allowing area compared with the second position;

It should be noted that, in the embodiment of the present application, the limitation data management module, the navigation module, the guidance module, the flight limitation processing module, and the flight control module are the same as the limitation data management module, the navigation module, the guidance module, the flight limitation processing module, and the flight control module in fig. 5, respectively, and may refer to fig. 5, and are not repeated herein

According to the device for controlling the unmanned aerial vehicle to fly, when the unmanned aerial vehicle arrives in the current period, the set flight limiting area, the first position, the flight speed and the flight direction are obtained, and the second position where the unmanned aerial vehicle is expected to arrive in the next period is determined based on the first position, the flight speed and the flight direction. And when the second position is located outside the allowed flight area defined by the flight limiting area, determining a third position based on the flight limiting area and the second position, wherein the third position is close to the allowed flight area compared with the second position, and controlling the unmanned aerial vehicle to fly to the third position. The device is through controlling unmanned aerial vehicle to being close to the direction flight that allows the flight zone, and restriction unmanned aerial vehicle keeps away from the permission flight zone, under the circumstances that the user misplaces the flight restriction zone, avoids unmanned aerial vehicle to deviate from the airline flight, reserves certain response time for the user, resets the flight restriction zone, has shortened unmanned aerial vehicle and has flown back the time of initial airline, has improved unmanned aerial vehicle's flight efficiency.

It should be noted that: the device for controlling the unmanned aerial vehicle to fly provided in the above embodiment is only exemplified by the division of the above functional modules when controlling the unmanned aerial vehicle to fly, and in practical application, the above functional allocation may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the device for controlling the unmanned aerial vehicle to fly and the method embodiment for controlling the unmanned aerial vehicle to fly provided in the above embodiments belong to the same concept, and detailed implementation processes of the device are shown in the method embodiment, and are not repeated here.

Fig. 25 is a block diagram of a structure of a unmanned plane 2500 according to an embodiment of the present application. For example, the drone 2500 may be used to perform the methods of controlling the flight of a drone provided in the various embodiments described above. Referring to fig. 25, the unmanned aerial vehicle 2500 includes: a processor 2501 and a memory 2502.

The processor 2501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 2501 may be implemented in hardware in at least one of a DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 2501 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 2501 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content required to be displayed by the display screen. In some embodiments, the processor 2501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 2502 may include one or more computer-readable storage media, which may be non-transitory. Memory 2502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 2502 is used to store at least one instruction for execution by processor 2501 to implement a method of controlling a flight of a drone provided by an embodiment of the method of the present application.

In some embodiments, the drone 2500 may further optionally include: a peripheral interface 2503, and at least one peripheral. The processor 2501, memory 2502, and peripheral interface 2503 may be connected by bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 2503 by buses, signal lines, or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 2504, a display 2505, a camera 2506, an audio circuit 2507, a positioning component 2508, and a power source 2509.

The peripheral interface 2503 may be used to connect at least one Input/Output (I/O) related peripheral device to the processor 2501 and memory 2502. In some embodiments, the processor 2501, memory 2502, and peripheral interface 2503 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 2501, memory 2502, and peripheral interface 2503 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 2504 is configured to receive and transmit RF (Radio Frequency) signals, also referred to as electromagnetic signals. The radio frequency circuit 2504 communicates with a communication network and other communication devices through electromagnetic signals. The radio frequency circuit 2504 converts an electric signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electric signal. Optionally, the radio frequency circuit 2504 comprises: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 2504 may communicate with other drones through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 2504 may also include NFC (Near Field Communication ) related circuits, which are not limited by the present application.

The display 2505 is for displaying a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 2505 is a touch display, the display 2505 also has the ability to capture touch signals at or above the surface of the display 2505. The touch signal may be input to the processor 2501 as a control signal for processing. At this point, the display 2505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 2505 may be one, providing a front panel of the drone 2500; in other embodiments, the display 2505 may be at least two, respectively disposed on different surfaces of the drone 2500 or in a folded design; in still other embodiments, the display 2505 may be a flexible display disposed on a curved surface or a folded surface of the drone 2500. Even more, the display 2505 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 2505 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 2506 is used to capture images or video. Optionally, camera assembly 2506 includes a front camera and a rear camera. Usually, the front camera is arranged on the front panel of the unmanned aerial vehicle, and the rear camera is arranged on the back of the unmanned aerial vehicle. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera assembly 2506 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

Audio circuitry 2507 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 2501 for processing, or inputting the electric signals to the radio frequency circuit 2504 for realizing voice communication. For purposes of stereo acquisition or noise reduction, the microphones may be multiple and disposed at different portions of the unmanned aerial vehicle 2500, respectively. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 2501 or the radio frequency circuit 2504 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, audio circuit 2507 may also include a headphone jack.

The location component 2508 is used to locate the current geographic location of the drone 2500 for navigation or LBS (Location Based Service, location-based services). The positioning component 2508 may be a positioning component based on the GPS of the united states, the beidou system of china, or the galileo system of the european union.

The power supply 2509 is used to power the various components in the drone 2500. The power source 2509 may be alternating current, direct current, a disposable battery, or a rechargeable battery. When the power source 2509 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the drone 2500 also includes one or more sensors 2510. The one or more sensors 2510 include, but are not limited to: acceleration sensor 2511, gyroscope sensor 2512, pressure sensor 2513, fingerprint sensor 2514, optical sensor 2515 and proximity sensor 2516.

The acceleration sensor 2511 can detect the magnitudes of accelerations on three coordinate axes of the coordinate system established with the unmanned aerial vehicle 2500. For example, the acceleration sensor 2511 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 2501 may control the touch display 2505 to display a user interface in either a landscape view or a portrait view based on gravitational acceleration signals acquired by the acceleration sensor 2511. The acceleration sensor 2511 may also be used for the acquisition of game or user motion data.

The gyro sensor 2512 can detect the body direction and the rotation angle of the unmanned aerial vehicle 2500, and the gyro sensor 2512 can cooperate with the acceleration sensor 2511 to collect the 3D motion of the user to the unmanned aerial vehicle 2500. The processor 2501 may perform the following functions based on data collected by the gyro sensor 2512: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 2513 may be provided on the side frames of the drone 2500 and/or on the lower layer of the touch display 2505. When the pressure sensor 2513 is disposed on the side frame of the unmanned aerial vehicle 2500, a holding signal of the unmanned aerial vehicle 2500 by a user can be detected, and the processor 2501 performs left-right hand recognition or quick operation according to the holding signal collected by the pressure sensor 2513. When the pressure sensor 2513 is provided at the lower layer of the touch display 2505, the processor 2501 controls the operability control on the UI interface according to the pressure operation of the user on the touch display 2505. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 2514 is used to collect a fingerprint of a user, and the processor 2501 identifies the identity of the user based on the fingerprint collected by the fingerprint sensor 2514, or the fingerprint sensor 2514 identifies the identity of the user based on the collected fingerprint. Upon identifying the user's identity as a trusted identity, the processor 2501 authorizes the user to perform related sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, and the like. The fingerprint sensor 2514 may be provided on the front, back or side of the drone 2500. When a physical key or vendor Logo is provided on the drone 2500, the fingerprint sensor 2514 may be integrated with the physical key or vendor Logo.

The optical sensor 2515 is used to collect ambient light intensity. In one embodiment, the processor 2501 may control the display brightness of the touch display 2505 based on the intensity of ambient light collected by the optical sensor 2515. Specifically, when the intensity of the ambient light is high, the display luminance of the touch display screen 2505 is turned up; when the ambient light intensity is low, the display brightness of the touch display screen 2505 is turned down. In another embodiment, the processor 2501 may also dynamically adjust the shooting parameters of the camera assembly 2506 based on the intensity of ambient light collected by the optical sensor 2515.

A proximity sensor 2516, also known as a distance sensor, is typically provided on the front panel of the drone 2500. The proximity sensor 2516 is used to collect the distance between the user and the front of the drone 2500. In one embodiment, when the proximity sensor 2516 detects a gradual decrease in the distance between the user and the front of the drone 2500, the processor 2501 controls the touch display 2505 to switch from the on-screen state to the off-screen state; when the proximity sensor 2516 detects a gradual increase in the distance between the user and the front of the drone 2500, the processor 2501 controls the touch display 2505 to switch from the off-screen state to the on-screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 25 is not limiting and that the drone 2500 may include more or less components than shown, or may combine certain components, or may employ a different arrangement of components.

The embodiment of the application also provides a computer readable storage medium, which is applied to a terminal, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the computer readable storage medium, and the instruction, the program, the code set or the instruction set is loaded and executed by a processor to realize the operation executed by the unmanned aerial vehicle in the method for controlling unmanned aerial vehicle to fly in the embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing is only for the convenience of those skilled in the art to understand the technical solution of the present application, and is not used to control the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling unmanned aerial vehicle flight, the method comprising:

determining a first boundary point on a boundary of the flight restriction area, the first boundary point being closest to the first location, when the second location is outside of an allowable flight area defined by the flight restriction area; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining a third location based on the third vector and the fourth vector, the third location being closer to the allowed flight area than the second location; or when the second position is located outside the allowed flight area defined by the flight limiting area, determining a second boundary point closest to the second position on the boundary of the flight limiting area, and determining the second boundary point as the third position;

And controlling the unmanned aerial vehicle to fly to the third position.

2. The method of claim 1, wherein determining a first boundary point on a boundary of the flight restricted area that is closest to the first location when the second location is outside of an allowed flight area defined by the flight restricted area comprises:

determining a first boundary point on the boundary of the flight restricted area, the first boundary point being closest to the first position, when the second position is located outside an allowable flight area defined by the flight restricted area and the closest distance between the second position and the boundary of the flight restricted area is greater than a set threshold;

determining a second boundary point on a boundary of the flight restricted area that is closest to the second location when the second location is outside of an allowable flight area defined by the flight restricted area, comprising:

and when the second position is located outside an allowable flight area defined by the flight limiting area and the nearest distance between the second position and the boundary of the flight limiting area is smaller than the set threshold value, determining a second boundary point closest to the second position on the boundary of the flight limiting area.

3. The method of claim 1, wherein the determining a third location based on the third vector and the fourth vector comprises:

4. The method of claim 1, wherein the determining a third location based on the third vector and the fourth vector comprises:

5. The method according to claim 1, wherein the method further comprises:

when the flight limiting area is a flight limiting area, a first projection point of the first position on the ground and a second projection point of the second position on the ground are both in the flight limiting area, and a second height of the second position from the ground exceeds a limiting height of the flight limiting area, if the first height of the first position from the ground is not higher than the second height, determining the third position below the first position; and if the first height is higher than the second height, determining the second position as the third position.

6. The method of claim 1, wherein prior to said controlling the flight of the drone to the third location, the method further comprises:

7. An apparatus for controlling the flight of a drone, the apparatus comprising:

a flight restriction processing module configured to determine a first boundary point closest to the first location on a boundary of the flight restriction area when the second location is outside an allowable flight area defined by the flight restriction area; acquiring a first vector from the first boundary point to the first position, and acquiring a second vector from the first position to the second position; decomposing the second vector into a third vector and a fourth vector, the third vector being parallel to the first vector and the fourth vector being perpendicular to the first vector; determining a third location based on the third vector and the fourth vector, the third location being closer to the allowed flight area than the second location; or when the second position is located outside the allowed flight area defined by the flight limiting area, determining a second boundary point closest to the second position on the boundary of the flight limiting area, and determining the second boundary point as the third position;

8. The apparatus of claim 7, wherein the flight restriction processing module is further configured to determine a first boundary point on a boundary of the flight restriction region that is closest to the first location when the second location is outside of an allowed flight region defined by the flight restriction region and a closest distance between the second location and the boundary of the flight restriction region is greater than a set threshold; or,

the flight restriction processing module is further configured to determine a second boundary point closest to the second location on the boundary of the flight restriction area when the second location is located outside the allowed flight area defined by the flight restriction area and the closest distance between the second location and the boundary of the flight restriction area is less than the set threshold.

9. The apparatus of claim 7, wherein the flight restriction processing module is further configured to determine an end position of the fourth vector as the third position if the direction of the third vector is the same as the direction of the first vector when the flight restriction area is an electronic fence; and if the direction of the third vector is opposite to the direction of the first vector, determining the second position as the third position.

10. The apparatus of claim 7, wherein the flight restriction processing module is further configured to determine the second location as the third location if the direction of the third vector and the direction of the first vector are the same when the flight restriction area is a no-fly area or the flight restriction area is a restricted-fly area and a first projected point of the first location on the ground is outside the restricted-fly area and a second projected point of the second location on the ground is within the restricted-fly area, but a second height of the second location from the ground exceeds a restricted height of the restricted-fly area; and if the direction of the third vector is opposite to the direction of the first vector, determining the end position of the fourth vector as the third position.

11. The apparatus of claim 7, wherein the flight restriction processing module is further configured to determine the third location below the first location if the first location is not higher than the second height from the ground when the flight restriction area is a restricted flight area and a first projected point of the first location on the ground and a second projected point of the second location on the ground are both within the restricted flight area and a second height of the second location point from the ground exceeds a restricted height of the restricted flight area; and if the first height is higher than the second height, determining the second position as the third position.

12. The apparatus of claim 7, wherein the navigation module is further configured to determine whether there is an obstacle between the first location and the third location;

13. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:

a processor and a memory having stored therein at least one instruction that is loaded and executed by the processor to implement the method of controlling a flight of a drone of any one of claims 1-6.