CN111399536A

CN111399536A - Aircraft searching method and device, storage medium and processor

Info

Publication number: CN111399536A
Application number: CN202010220266.2A
Authority: CN
Inventors: 郑小珊; 刘波
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2020-07-10

Abstract

The invention discloses a method and a device for searching an aircraft, a storage medium and a processor. Wherein, the method comprises the following steps: determining a first area in which the aircraft falls when falling and a second area in which a remote control device is located, wherein the remote control device is used for controlling the aircraft; determining a third region including the first region and the second region; determining a first search path of the aircraft in the third zone; and indicating the searching object to search the aircraft according to the first searching path. The invention solves the technical problem of low efficiency of searching the aircraft.

Description

Aircraft searching method and device, storage medium and processor

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a searching method and device of an aircraft, a storage medium and a processor.

Background

Currently, as the endurance of an aircraft increases, the flight distance of the aircraft also increases and the aircraft can fly in areas that are not visible to the operator. When an aircraft has an explosive situation, one method is to search for the aircraft by feeling only, and the other method is to search for the aircraft by the position of the aircraft displayed on the electronic map.

However, the method makes the process of searching the aircraft more blind, and in some dangerous areas, personal danger is easy to occur; the route is also frequently bypassed, so that the searching process of the aircraft is time-consuming and can not be searched, and the technical problem of low searching efficiency of the aircraft exists.

In view of the above technical problem of low efficiency of searching for an aircraft, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the invention provides a searching method and device of an aircraft, a storage medium and a processor, which are used for at least solving the technical problem of low searching efficiency of the aircraft.

According to an aspect of an embodiment of the present invention, there is provided a method of searching for an aircraft. The method can comprise the following steps: determining a first area in which the aircraft falls when falling and a second area in which a remote control device is located, wherein the remote control device is used for controlling the aircraft; determining a third region including the first region and the second region; determining a first search path of the aircraft in the third zone; and indicating the searching object to search the aircraft according to the first searching path.

Optionally, determining a first search path for the aircraft in a third zone comprises: acquiring earth surface map data of a third area; and determining a first search path according to the earth surface map data.

Optionally, determining the first search path according to the surface map data includes: acquiring information of a plurality of position points in the earth surface map data; determining a fourth area in the third area according to the information of the plurality of position points, wherein the information of any two adjacent position points in the fourth area meets the target condition; the first search path is determined in the fourth area.

Optionally, determining a fourth area in the third area according to the information of the plurality of location points includes: traversing to a first location point among the plurality of location points; a first determination step of determining at least one second position point adjacent to the first position point from among the plurality of position points; a second determining step, wherein under the condition that the information of each second position point and the information of the first position point meet the target condition, each second position point is determined as the first position point, and the first determining step is returned until the plurality of position points are traversed; and determining an area formed by the first position point and the second position point, of the plurality of position points, of which the information meets the target condition, as a fourth area.

Optionally, in a case that the information of each second location point and the information of the first location point satisfy the target condition, determining each second location point as the first location point, and returning to the first determining step, including: determining whether the information of the other second location points in the plurality of second location points and the information of the first location point satisfy the target condition in the case that the information of one second location point in the plurality of second location points and the information of the first location point satisfy the target condition; and if the information of other second position points and the information of the first position point are determined to meet the target condition, determining each second position point as the first position point, and returning to the first determination step.

Optionally, the method further comprises: and determining that the information of the two adjacent position points meets the target condition under the condition that the difference of the height information of the two adjacent position points is smaller than the target threshold.

Optionally, determining the first search path in the fourth area includes: determining the width of a searched object; the first search path is determined by width in the fourth area.

Optionally, determining the first search path according to the width in the fourth area includes: determining a first boundary and a second boundary in a fourth area, wherein the distance between a position point in the first boundary and a corresponding position point in the second boundary is greater than the width; and determining the area between the first boundary and the second boundary as the area covered by the first search path.

Optionally, determining a first region into which the aircraft falls upon a crash comprises: determining a target position of the aircraft at the end of stable flight; the first zone is determined based on the target location and flight status information of the aircraft at the time of the crash.

Optionally, determining the first region based on the target location and flight status information of the aircraft at the time of the crash comprises: determining a target radius according to the flight state information; a circular area centered on the target position and formed by the target radius is determined as a first area.

Optionally, determining a second region in which the remote control device is located when the aircraft is at a crash comprises: the area centered on the position where the remote control device is located and formed by the target radius is determined as the second area.

Optionally, the flight status information comprises at least one of: the flight height of the aircraft; the flight speed of the aircraft; flight acceleration of the aircraft.

Optionally, determining a first region into which the aircraft falls upon a crash comprises: acquiring a flight log of the aircraft from a server; a first zone is determined from the flight log.

Optionally, the method further comprises: determining a fifth area comprising the first area and the second area, wherein the fifth area is larger than the third area, in case that the first search path is determined to fail; determining a second search path of the aircraft in a fifth region; and indicating the searching object to search the aircraft according to the second searching path.

According to another aspect of the embodiment of the invention, the searching device of the aircraft is also provided. The aircraft searching device may include: the remote control device comprises a first determination unit, a second determination unit and a control unit, wherein the first determination unit is used for determining a first area in which the aircraft falls when falling and a second area in which the remote control device is located, and the remote control device is used for controlling the aircraft; a second determination unit configured to determine a third area including the first area and the second area; a third determination unit for determining a first search path of the aircraft in a third zone; and the indicating unit is used for indicating the searching object to search the aircraft according to the first searching path.

According to another aspect of the embodiments of the present invention, there is also provided a storage medium. The storage medium includes a stored program, wherein the apparatus in which the storage medium is located is controlled to execute the aircraft searching method according to the embodiment of the present invention when the program is executed.

According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program is run to execute the searching method of the aircraft of the embodiment of the invention.

In the embodiment of the invention, a first area in which the aircraft falls in the falling process and a second area in which a remote control device is located are determined, wherein the remote control device is used for controlling the aircraft; determining a third region including the first region and the second region; determining a first search path of the aircraft in the third zone; and indicating the searching object to search the aircraft according to the first searching path. That is to say, this application takes place the crash at the aircraft after, through the aircraft in the first region that falls into when falling and the second region at remote control equipment place, plan the search route of aircraft, and then instruct search object to search the aircraft according to the route of planning, the purpose of searching the aircraft fast has been reached, avoided searching the aircraft blindly, and the condition of detouring appears, long time consuming and not necessarily can search the aircraft, the technical problem of the inefficiency of searching the aircraft has been solved, thereby reached the technical problem that improves the efficiency of searching the aircraft.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a method of searching for an aircraft according to an embodiment of the invention;

fig. 2 is a flowchart of a method for navigating and seeking an unmanned aerial vehicle when the unmanned aerial vehicle falls according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a map range between a drone and a remote control device according to an embodiment of the invention;

fig. 4 is a flow chart of a method of determining a navigation path for a drone from surface map data within a map range in accordance with an embodiment of the present invention; and

fig. 5 is a schematic diagram of a searching apparatus for an aircraft according to an embodiment of the invention.

Detailed Description

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

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

In accordance with an embodiment of the present invention, there is provided an embodiment of a method for aircraft searching, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.

Fig. 1 is a flowchart of a method for searching for an aircraft according to an embodiment of the invention. As shown in fig. 1, the method may include the steps of:

step S102, a first area where the aircraft falls in the falling process and a second area where the remote control device is located are determined.

In the technical solution provided by step S102 of the present invention, the remote control device is used for controlling the aircraft.

In this embodiment, the aircraft may be an unmanned aerial vehicle, which may have a crash situation during flight, for example, a fryer, which may be caused by the aircraft touching an obstacle, having insufficient power, being out of operation or having a fault.

This embodiment determines a first area into which the aircraft falls when falling, which may indicate the range of the aircraft to fall, and thus may also be referred to as a fall area.

The aircraft of this embodiment has a remote control device, which may be an electronic remote control, adapted to be operated by an operator to control the aircraft, e.g., to control the flight of the aircraft. In the event of a crash of the aircraft, the second region in which the remote control device is located may be determined, which may be determined from the current location of the remote control device.

In step S104, a third area including the first area and the second area is determined.

In the technical solution provided by step S104 above, after determining the first area into which the aircraft falls in the event of a crash and the second area in which the remote control device is located, a third area may be determined based on the first area and the second area, and the third area may include at least the first area and the second area, and is used for indicating a map range between the first area and the second area.

Step S106, determining a first search path of the aircraft in the third area.

In the technical solution provided in step S106 of the present invention, after determining the third area including the first area and the second area, the first search path of the aircraft may be determined in the third area.

The embodiment can determine the map data of the third area, and determine the first search path of the aircraft according to the information of all the position points in the map data, wherein the first search path is a navigation path for searching the unmanned aerial vehicle, so that the purpose of planning the search path of the aircraft is achieved.

Step S108, the search object is indicated to search the aircraft according to the first search path.

In the technical solution provided in step S108 of the present invention, after the first search path of the aircraft is determined in the third area, the search object is instructed to search for the aircraft according to the first search path.

In this embodiment, the search target may be an unmanned vehicle or a human. Under the condition that the search object is the unmanned vehicle, sending a control command to the unmanned vehicle through the first search path, so that the unmanned vehicle searches the aircraft according to the first search path; under the condition that the search object is a person, the remote control equipment can display the first search path, and the operator can search the aircraft according to the first search path displayed by the remote control equipment, so that the problem that the aircraft cannot be searched without path planning and the aircraft cannot be searched without time consumption due to the fact that the route is bypassed is solved, and the technical problem that the efficiency of searching the aircraft is low is solved, and the technical problem that the efficiency of searching the aircraft is improved is solved.

The above-described method of this embodiment is further described below.

As an alternative implementation, step S106, determining a first search path of the aircraft in the third area, includes: acquiring earth surface map data of a third area; and determining a first search path according to the earth surface map data.

In this embodiment, when the first search route of the aircraft is determined in the third area, the Surface map data of the third area may be obtained, for example, the Surface map data is Digital Surface Model (DSM) data, where the DSM is a three-dimensional Model including actual Surface features of the Surface, for example, a ground elevation Model including heights of actual Surface features such as Surface buildings, bridges, trees, and the like, and may truly reflect the ground undulation. After the surface map data of the third area is acquired, the first search path may be determined according to the surface map data, for example, according to information of a location point in the surface map data.

As an alternative embodiment, the determining the first search path according to the surface map data includes: acquiring information of a plurality of position points in the earth surface map data; determining a fourth area in the third area according to the information of the plurality of position points, wherein the information of any two adjacent position points in the fourth area meets the target condition; the first search path is determined in the fourth area.

In this embodiment, the surface map data includes information of a plurality of location points, the information of the location points may be acquired, and the information of the location points is traversed, so as to determine the location points satisfying the target condition, and then a fourth region is formed by all the location points satisfying the target condition, where the target condition may be a condition that the unmanned aerial vehicle can be quickly and conveniently found by being preset for two adjacent location points, and the information of the location points may include height information of the points and location information of the points. After determining the fourth area in the third area according to the information of the plurality of location points, the first search path may be determined in the fourth area.

As an optional implementation manner, determining the fourth area in the third area according to the information of the plurality of location points includes: traversing to a first location point among the plurality of location points; a first determination step of determining at least one second position point adjacent to the first position point from among the plurality of position points; a second determining step, wherein under the condition that the information of each second position point and the information of the first position point meet the target condition, each second position point is determined as the first position point, and the first determining step is returned until the plurality of position points are traversed; and determining an area formed by the first position point and the second position point, of the plurality of position points, of which the information meets the target condition, as a fourth area.

In this embodiment, when determining the fourth area in the third area according to the information of the plurality of location points is implemented, the plurality of location points may be traversed, and optionally, the traversal may be performed starting from the location point in the second area where the remote control device is located.

After traversing from the plurality of location points to a first location point, a first determining step may be performed, determining from the plurality of locations at least one second location point adjacent to the first location point, a second determination step may then be performed, determining whether the information of the first location point and the information of each second location point satisfy a target condition, if the information of the first location point and the information of each second location point are judged to satisfy the target condition, it may be determined that the first location point is in a transitionable relationship with each of the second location points, each of the second location points being a transitionable relationship point of the first location point, each of the second location points may be re-determined as the first location point, and the first determination step is returned to, i.e., at least one second location point adjacent to the re-determined first location point is determined from the plurality of location points, and the second determination step is performed. And under the condition that the information of each redetermined second position point and the information of the redetermined first position point meet the target condition, redetermining each redetermined second position point as the first position point, returning to the first determination step until the plurality of position points in the ground map data are traversed, so as to screen out the position points meeting the target condition from the plurality of position points, and further determining an area formed by the position points meeting the target condition as a fourth area, wherein the fourth area can also be called a transitive area.

As an optional implementation manner, in a case that the information of each second location point and the information of the first location point satisfy the target condition, determining each second location point as the first location point, and returning to the first determining step, includes: determining whether the information of the other second location points in the plurality of second location points and the information of the first location point satisfy the target condition in the case that the information of one second location point in the plurality of second location points and the information of the first location point satisfy the target condition; and if the information of other second position points and the information of the first position point are determined to meet the target condition, determining each second position point as the first position point, and returning to the first determination step.

In this embodiment, the at least one second location point determined from the plurality of location points, which is adjacent to the first location point, may be a plurality of second location points. The method comprises the steps of firstly judging whether the information of one second position point in a plurality of second position points and the information of a first position point meet a target condition, if so, determining that the one second position point and the first position point are in a transitive relation, and then sequentially judging whether the information of each other second position point in the plurality of second position points and the information of the first position point meet the target condition, namely, sequentially determining whether each other second position point and the first position point are in the transitive relation. If it is also determined that each of the other second location points is in a transitionable relationship with the second location point, each of the second location points may be determined to be the first location point and the first determining step may be returned to, if so, continuing until a fourth one of the third regions is determined.

As an optional implementation, the method further comprises: and determining that the information of the two adjacent position points meets the target condition under the condition that the difference of the height information of the two adjacent position points is smaller than the target threshold.

In this embodiment, since the information of the location point may include height information of the location point, the embodiment may first obtain height information of two adjacent location points, obtain a difference between the height information of the two adjacent location points, and determine whether the difference is smaller than a target threshold, where the target threshold may be a maximum critical value that is convenient for a search object to pass through. If the difference is smaller than the target threshold value, the information of the two adjacent position points can be determined to meet the target condition, and then the two adjacent position points are determined to be in transitive relation.

For example, altitude information and position information of all position points are determined between a first area in which the aircraft falls and a second area in which the remote control device is located; then, traversing from the first position point, and determining whether the difference between the height information of the second position point adjacent to the first position point and the height information of the first position point is smaller than a target threshold value; when the difference is smaller than the target threshold, determining that the second position point and the first position point are in transitionable relation; and sequentially determining whether each other second position point adjacent to the first position point is in a transitionable relation with the first position point, if so, traversing whether adjacent position points around each second position point are in a transitionable relation with the second position point, and if so, continuing until a transitionable area in the third area is determined.

As an alternative implementation, the determining the first search path in the fourth area includes: determining the width of a searched object; the first search path is determined by width in the fourth area.

In this embodiment, the determination of the first search path is also related to the search object, since the search object searches for the aircraft according to the first search path. When determining the first search path in the fourth area, the type of the search object, for example, whether the search object is a human or an unmanned vehicle, may be determined, then the width of the search object is determined, and the first search path is determined according to the width of the search object in the fourth area, where the width of the first search path may be greater than the width of the search object.

As an alternative implementation, the determining the first search path according to the width in the fourth area includes: determining a first boundary and a second boundary in a fourth area, wherein the distance between a position point in the first boundary and a corresponding position point in the second boundary is greater than the width; and determining the area between the first boundary and the second boundary as the area covered by the first search path.

In this embodiment, after determining, as a fourth region, a region formed by a first position point and a second position point, of the plurality of position points, of which information satisfies the target condition, a first boundary (a first chain) and a second boundary (a second chain) may be determined in the fourth region, where a distance between a position point in the first boundary and a corresponding position point in the second boundary is greater than a width of the search object, and optionally, a connection line between the position point in the first boundary and the position point in the second boundary is parallel to a width direction of the search object. After the first boundary and the second boundary are determined from the fourth area, the area between the first boundary and the second boundary may be determined as the area covered by the first search path, so that the first search path may be determined according to the first boundary and the second boundary, and the search object may be instructed to search for the aircraft according to the first search path.

As an alternative embodiment, step S102, determining a first region into which the aircraft is falling upon a crash, includes: determining a target position of the aircraft at the end of stable flight; the first zone is determined based on the target location and flight status information of the aircraft at the time of the crash. Wherein the flight status information comprises at least one of: the flight height of the aircraft; the flight speed of the aircraft; flight acceleration of the aircraft.

In this embodiment, before the aircraft falls, the flight state information of the aircraft may be changed drastically, for example, when the aircraft rolls over when touching an obstacle, the flight data such as the flight altitude of the aircraft, the flight speed of the aircraft, and the flight acceleration of the aircraft may be changed drastically. The embodiment can determine the target position of the aircraft at the end of stable flight, namely the last effective position of the aircraft before the aircraft falls, and then jointly predict the first area based on the target position and the flight state information of the aircraft during the falling.

As an alternative embodiment, determining the first region based on the target location and the flight status information of the aircraft at the time of the crash includes: determining a target radius according to the flight state information; a circular area centered on the target position and formed by the target radius is determined as a first area.

In this embodiment, when determining the first region based on the target position and the flight status information of the aircraft in the crash is implemented, the target radius may be determined according to the flight status information in the crash, for example, the target radius may be determined according to the flight altitude, the flight speed, and the flight acceleration of the aircraft in the crash, and then the circular region formed by the target radius and centered on the target position is determined as the first region where the aircraft crashes.

As an alternative embodiment, the step S102 of determining a second area in which the remote control device is located when the aircraft is at a crash includes: the area centered on the position where the remote control device is located and formed by the target radius is determined as the second area.

In this embodiment, the size of the second area in which the remote control device is located may be the same as the size of the first area, so that this embodiment may form the second area in which the remote control device is located with the target radius of the first area centered on the location in which the remote control device is located when the aircraft is crashed.

As an alternative embodiment, step S102, determining a first region into which the aircraft is falling upon a crash, includes: acquiring a flight log of the aircraft from a server; a first zone is determined from the flight log.

In this embodiment, the flight data of the aircraft is sent to the server before the aircraft falls, and the server records the flight data to generate a flight log. When the first region into which the aircraft falls when falling needs to be determined, the server can determine the first region according to the flight log of the aircraft, for example, the server acquires flight data such as the flight altitude, the flight speed and the flight acceleration of the aircraft when falling from the flight log, and then determines the target radius according to the flight altitude, the flight speed and the flight acceleration, and determines the first region of the aircraft as the circular region formed by the falling with the target position as the center and the target radius.

As an optional implementation, the method further comprises: determining a fifth area comprising the first area and the second area, wherein the fifth area is larger than the third area, in case that the first search path is determined to fail; determining a second search path of the aircraft in a fifth region; and indicating the searching object to search the aircraft according to the second searching path.

In this embodiment, in a case where it is determined that the first search path fails, for example, when a third area including the first area and the second area is relatively steep, and information of any two adjacent position points therein does not satisfy the target condition, the fourth area cannot be determined in the third area, and thus the first search path cannot be determined in the fourth area, thereby causing a failure in determining the first search path. In this case, continuing to acquire a map area of a larger range, a fifth area including the first area and the second area may be determined, the fifth area being larger than the third area, and a second search path of the aircraft may be determined in the fifth area, and the search object may be instructed to search for the aircraft according to the second search path.

It should be noted that the method for determining the second search path of the aircraft in the fifth area and the method for searching the aircraft according to the second search path instruction search object in the embodiment may be the same as the method for determining the first search path of the aircraft in the third area and searching the aircraft according to the first search path instruction search object, and are not described herein again.

Determining a first region into which the aircraft falls when falling and a second region in which a remote control device is located through the steps S102 to S108, wherein the remote control device is used for controlling the aircraft; determining a third region including the first region and the second region; determining a first search path of the aircraft in the third zone; and indicating the searching object to search the aircraft according to the first searching path. That is to say, this application takes place the crash at the aircraft after, through the aircraft in the first region that falls into when falling and the second region at remote control equipment place, plan the search route of aircraft, and then instruct search object to search the aircraft according to the route of planning, the purpose of searching the aircraft fast has been reached, avoided searching the aircraft blindly, and the condition of detouring appears, long time consuming and not necessarily can search the aircraft, the technical problem of the inefficiency of searching the aircraft has been solved, thereby reached the technical problem that improves the efficiency of searching the aircraft.

Example 2

The technical solution of the embodiment of the present invention is further described below with reference to a preferred embodiment, specifically, an aircraft is taken as an unmanned aerial vehicle for example.

Along with the increase of the cruising performance of the unmanned aerial vehicle, the flying distance of the unmanned aerial vehicle is longer and longer, and a plurality of operators can control the unmanned aerial vehicle to fly to an area which cannot be seen by the operators. In the related art, the real-time position of the drone is usually displayed by relying on a real-time image displayed on the remote control device, but many drone remote control devices do not have a function of displaying the real-time image. Therefore, when the unmanned aerial vehicle explodes, the operator often searches blindly, personal danger is easily caused, and the unmanned aerial vehicle often bypasses due to no path planning, so that the searching process of the unmanned aerial vehicle is long-lasting and can not be searched.

The embodiment provides an unmanned aerial vehicle navigation and searching method when the unmanned aerial vehicle falls off, and the unmanned aerial vehicle can be rapidly searched when the unmanned aerial vehicle flies to an area invisible to an operator and the condition of a machine explosion occurs.

The following further introduces the unmanned aerial vehicle navigation and seeking method when the unmanned aerial vehicle falls off.

The unmanned aerial vehicle navigation seek method when the unmanned aerial vehicle drops can be executed by an unmanned aerial vehicle navigation seek system, and the unmanned aerial vehicle navigation seek system can include: the system comprises an unmanned aerial vehicle, remote control equipment, a server and an unmanned vehicle, wherein the remote control equipment can be used for controlling the unmanned aerial vehicle to fly; the remote control equipment is also provided with a positioning module which can be used for positioning the remote control equipment; the server is used for obtaining the data about the unmanned aerial vehicle during flying, and can send control instructions to ground equipment such as unmanned vehicles.

Fig. 2 is a flowchart of a method for navigating and seeking an unmanned aerial vehicle when the unmanned aerial vehicle falls off according to an embodiment of the invention. As shown in fig. 2, the method may include the steps of:

step S201, acquiring a flight log of the unmanned aerial vehicle from a server, and determining a falling area of the unmanned aerial vehicle through the flight log.

In this embodiment, before the occurrence of the explosion of the drone, the flight log thereof is sent to the server, and the server can predict the drop area of the drone according to the flight data recorded in the flight log of the drone. Wherein, unmanned aerial vehicle can produce the condition such as roll when touching the barrier, and unmanned aerial vehicle's speed and position will take place fiercely to change this moment, therefore this embodiment can predict unmanned aerial vehicle's the region of dropping according to the violent changing acceleration and the velocity value of unmanned aerial vehicle. Optionally, in this embodiment, the last effective position point of the stable flight of the unmanned aerial vehicle in the flight log may be used as the area midpoint, the area radius of the drop range is determined according to the flight height, the flight speed, and the acceleration of the unmanned aerial vehicle when the unmanned aerial vehicle drops, and the area formed by the area midpoint and the area radius is determined as the drop area of the unmanned aerial vehicle.

Step S202, acquiring the current position of the remote control equipment, and determining the area where the remote control equipment is located according to the current position.

The embodiment may generate the area where the remote control device is located, with the current position of the remote control device as a center and the radius of the area of the drop area as a radius.

Step S203, determining the map range between the unmanned aerial vehicle and the remote control device according to the falling area of the unmanned aerial vehicle and the area where the remote control device is located.

The map range of this embodiment includes the above-described falling area of the drone and the area where the remote control device is located, and acquires surface map data (e.g., DSM map) within the map range.

Fig. 3 is a schematic diagram of a map range between a drone and a remote control device according to an embodiment of the invention. As shown in fig. 3, the area a is used to indicate a falling area of the drone, the area B is used to indicate an area where the remote control device is located, the area radius of the area B is the same as the area radius of the area a, and the map range C between the drone and the remote control device includes the area a and the area B.

Step S204, determining a navigation path of the unmanned aerial vehicle in a map range between the unmanned aerial vehicle and the remote control device.

Fig. 4 is a flow chart of a method of determining a navigation path for a drone from surface map data within a map range in accordance with an embodiment of the present invention. As shown in fig. 4, the method may include the steps of:

step S401, determining the height and position information of all position points between the falling area of the unmanned aerial vehicle and the area where the remote control equipment is located.

Step S402, determining a transitionable area in the map range according to the heights and the position information of all the position points.

The embodiment may start traversal from a first position point in the map range, determine whether a difference between the height information of a second position point adjacent to the first position point and the height information of the first position point is smaller than a preset value, and if the difference is smaller than the preset value, determine that a relationship between the second position point and the first position point is a transitive relationship, where the second position point is also referred to as a position point having a transitive relationship; then, whether the relationship between each other position point adjacent to the first position point and the first position point is in a transitionable relationship is determined in turn, if so, the adjacent points around the point which is determined to be in the transitionable relationship are continuously traversed whether to have the transitionable relationship with the point in the transitionable relationship, and if so, the transitionable area in the map range is determined.

Step S403, determining a search target for searching for the unmanned aerial vehicle.

The search target in this embodiment may be a person or an unmanned vehicle.

Step S404, determining the width value of the search object, and determining the navigation path in the transitive area according to the width value.

In this embodiment, when determining the navigation path, a first chain and a second chain may be determined in the transition area, and a distance between a first point taken from the first chain and a corresponding second point taken from the second chain should be greater than a width value of the search object.

And step S205, indicating the search object to search the unmanned aerial vehicle according to the determined navigation path.

It should be noted that, if the navigation path cannot be determined from the already acquired map range, for example, when the map range is steep, it is difficult to determine the navigation path, the map with a larger range may be continuously acquired to form the navigation path, and the unmanned aerial vehicle may be searched according to the navigation path.

According to the embodiment, the flight log of the unmanned aerial vehicle is acquired from the server, and the falling area of the unmanned aerial vehicle is determined through the flight log; acquiring the current position of the remote control equipment, and determining the area where the remote control equipment is located according to the current position; determining a map range between the unmanned aerial vehicle and the remote control equipment through a falling area of the unmanned aerial vehicle and an area where the remote control equipment is located; determining a navigation path of the unmanned aerial vehicle in a map range between the unmanned aerial vehicle and the remote control device; instruct the search object to search for unmanned aerial vehicle according to the navigation route that determines, the purpose of seeking unmanned aerial vehicle fast has been reached, thereby when having avoided unmanned aerial vehicle to explode the machine, the operator blindly goes to search, lead to the personal danger easily, often detour owing to there is not the route planning, make unmanned aerial vehicle's search process length consuming time, and still can not necessarily search, the technical problem that unmanned aerial vehicle's search efficiency is low has been solved, and then the technological effect who improves unmanned aerial vehicle's search efficiency has been reached.

Example 3

The embodiment of the invention also provides a searching device of the aircraft. It should be noted that the aircraft searching method of this embodiment may be used to execute the aircraft searching method of the embodiment of the present invention.

Fig. 5 is a schematic diagram of a searching apparatus for an aircraft according to an embodiment of the invention. As shown in fig. 5, the aircraft searching apparatus 50 may include: a first determining unit 51, a second determining unit 52, a third determining unit 53 and an indicating unit 54.

A first determination unit 51 for determining a first area into which the aircraft falls in the event of a crash and a second area in which a remote control device is located, wherein the remote control device is used for controlling the aircraft.

A second determining unit 52 for determining a third area comprising the first area and the second area.

A third determination unit 53 for determining a first search path of the aircraft in the third zone.

And an indicating unit 54, configured to indicate the search object to search for the aircraft according to the first search path.

Optionally, the third determining unit 53 includes: the first acquisition module is used for acquiring the earth surface map data of the third area; the first determining module is used for determining a first searching path according to the earth surface map data.

Optionally, the first determining module includes: the acquisition submodule is used for acquiring information of a plurality of position points in the earth surface map data; the first determining submodule is used for determining a fourth area in the third area according to the information of the position points, wherein the information of any two adjacent position points in the fourth area meets a target condition; and the second determining submodule is used for determining the first searching path in the fourth area.

Optionally, the first determining submodule is configured to determine the fourth area in the third area according to the information of the plurality of location points by: traversing to a first location point among the plurality of location points; a first determination step of determining at least one second position point adjacent to the first position point from among the plurality of position points; a second determining step, wherein under the condition that the information of each second position point and the information of the first position point meet the target condition, each second position point is determined as the first position point, and the first determining step is returned until the plurality of position points are traversed; and determining an area formed by the first position point and the second position point, of the plurality of position points, of which the information meets the target condition, as a fourth area.

Optionally, the first determining sub-module is configured to determine each second location point as the first location point if the information of each second location point and the information of the first location point satisfy the target condition, and return to the first determining step: determining whether the information of the other second location points in the plurality of second location points and the information of the first location point satisfy the target condition in the case that the information of one second location point in the plurality of second location points and the information of the first location point satisfy the target condition; and if the information of other second position points and the information of the first position point are determined to meet the target condition, determining each second position point as the first position point, and returning to the first determination step.

Optionally, the apparatus further comprises: and the fourth determining unit is used for determining that the information of the two adjacent position points meets the target condition when the difference of the height information of the two adjacent position points is smaller than the target threshold value.

Optionally, the second determining sub-module is configured to determine the first search path in the fourth area by: determining the width of a searched object; the first search path is determined by width in the fourth area.

Optionally, the second determining sub-module is configured to determine the first search path by width in the fourth area by: determining a first boundary and a second boundary in a fourth area, wherein the distance between a position point in the first boundary and a corresponding position point in the second boundary is greater than the width; and determining the area between the first boundary and the second boundary as the area covered by the first search path.

Optionally, the first determining unit 51 includes: the second determination module is used for determining the target position of the aircraft at the end of stable flight; and the third determination module is used for determining the first area based on the target position and the flight state information of the aircraft in the falling process.

Optionally, the third determining module includes: the third determining submodule is used for determining the target radius according to the flight state information; and the fourth determination submodule is used for determining a circular area which is centered on the target position and formed by the target radius as the first area.

Optionally, the first determining unit 51 includes: and the fifth determining module is used for determining an area which is formed by the target radius and takes the position of the remote control device as the center as the second area.

Optionally, the flight status information of this embodiment comprises at least one of: the flight height of the aircraft; the flight speed of the aircraft; flight acceleration of the aircraft.

Optionally, the first determining unit 51 includes: the second acquisition module is used for acquiring a flight log of the aircraft from the server; and the sixth determining module is used for determining the first area according to the flight log.

Optionally, the apparatus further comprises: a fifth determining unit, configured to determine a fifth area including the first area and the second area, where the fifth area is larger than the third area, if it is determined that the first search path fails; a sixth determination unit for determining a second search path of the aircraft in the fifth area; and the indicating unit is used for indicating the searching object to search the aircraft according to the second searching path.

The searching device of the aircraft of the embodiment determines a first area into which the aircraft falls when falling and a second area in which the remote control device is located through the first determination unit 51, wherein the remote control device is used for controlling the aircraft; determining a third area including the first area and the second area by the second determining unit 52; determining a first search path of the aircraft in the third zone by means of a third determination unit 53; the search object is instructed to search for the aircraft by the instruction unit 54 according to the first search path. That is to say, this application takes place the crash at the aircraft after, through the aircraft in the first region that falls into when falling and the second region at remote control equipment place, plan the search route of aircraft, and then instruct search object to search the aircraft according to the route of planning, the purpose of searching the aircraft fast has been reached, avoided searching the aircraft blindly, and the condition of detouring appears, long time consuming and not necessarily can search the aircraft, the technical problem of the inefficiency of searching the aircraft has been solved, thereby reached the technical problem that improves the efficiency of searching the aircraft.

Example 4

The embodiment of the invention also provides a storage medium. The storage medium includes a stored program, wherein the apparatus in which the storage medium is located is controlled to execute the aircraft searching method according to the embodiment of the present invention when the program is executed.

Example 5

The embodiment of the invention also provides a processor. The processor is used for running a program, wherein the program is run to execute the searching method of the aircraft of the embodiment of the invention.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A method of searching for an aircraft, comprising:

determining a first region in which an aircraft falls when falling and a second region in which a remote control device is located, wherein the remote control device is used for controlling the aircraft;

determining a third region including the first region and the second region;

determining a first seek path for the aircraft in the third zone;

and indicating a searching object to search the aircraft according to the first searching path.

2. The method of claim 1, wherein determining a first seek path for the aircraft in the third zone comprises:

acquiring earth surface map data of the third area;

and determining the first search path according to the earth surface map data.

3. The method of claim 2, wherein determining the first search path from the surface map data comprises:

acquiring information of a plurality of position points in the earth surface map data;

determining a fourth area in the third area according to the information of the plurality of position points, wherein the information of any two adjacent position points in the fourth area meets a target condition;

determining the first search path in the fourth area.

4. The method of claim 3, wherein determining a fourth region in the third region according to the information of the plurality of location points comprises:

traversing to a first location point among the plurality of location points;

a first determination step of determining at least one second position point adjacent to the first position point from the plurality of position points;

a second determining step, in which, under the condition that the information of each second position point and the information of the first position point meet the target condition, each second position point is determined as the first position point, and the first determining step is returned until the plurality of position points are traversed;

and determining an area formed by the first position point and the second position point, of the plurality of position points, in which the information satisfies the target condition, as the fourth area.

5. The method according to claim 4, wherein in a case where the information of each of the second location points and the information of the first location point satisfy the target condition, determining each of the second location points as the first location point, and returning to the first determining step, comprises:

determining whether information of other second location points of a plurality of second location points and information of the first location point satisfy the target condition in a case where the information of one second location point of the plurality of second location points and the information of the first location point satisfy the target condition;

and if the information of the other second position points and the information of the first position point are determined to meet the target condition, determining each second position point as the first position point, and returning to the first determination step.

6. The method of claim 3, further comprising:

and determining that the information of the two adjacent position points meets the target condition when the difference between the height information of the two adjacent position points is smaller than a target threshold.

7. The method of claim 3, wherein determining the first search path in the fourth area comprises:

determining the width of the search object;

and determining the first search path according to the width in the fourth area.

8. The method of claim 7, wherein determining the first search path in the fourth area according to the width comprises:

determining a first boundary and a second boundary in the fourth region, wherein a distance between a location point in the first boundary and a corresponding location point in the second boundary is greater than the width;

determining an area between the first boundary and the second boundary as an area covered by the first search path.

9. The method of claim 1, wherein determining the first region into which the aircraft falls upon a crash comprises:

determining a target position at the end of the stable flight of the aircraft;

determining the first region based on the target location and flight status information of the aircraft at the time of the crash.

10. The method of claim 9, wherein determining the first region based on the target location and flight status information of the aircraft at the time of the crash comprises:

determining a target radius according to the flight state information;

determining a circular area centered on the target position and formed by the target radius as the first area.

11. The method of claim 10, wherein determining the second area in which the remote control device is located when the aircraft is at a crash comprises:

and determining an area which is formed by the target radius and takes the position of the remote control device as the center as the second area.

12. The method of claim 9, wherein the flight status information comprises at least one of:

a flight height of the aircraft;

a flight speed of the aircraft;

a flight acceleration of the aircraft.

13. The method of any one of claims 1 to 12, wherein determining the first region into which the aircraft falls upon a crash comprises:

acquiring a flight log of the aircraft from a server;

determining the first area according to the flight log.

14. The method according to any one of claims 1 to 12, further comprising:

determining a fifth area comprising the first area and the second area, wherein the fifth area is larger than the third area, if it is determined that the first search path fails;

determining a second search path for the aircraft in the fifth region;

and indicating a searching object to search the aircraft according to the second searching path.

15. A search device for an aircraft, comprising:

a first determination unit for determining a first region into which an aircraft falls when falling and a second region in which a remote control device is located, wherein the remote control device is used for controlling the aircraft;

a second determination unit configured to determine a third area including the first area and the second area;

a third determination unit for determining a first search path of the aircraft in the third region;

and the indicating unit is used for indicating the searching object to search the aircraft according to the first searching path.

16. A storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the method of any one of claims 1 to 14.

17. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 14.