WO2020014930A1

WO2020014930A1 - Unmanned aerial vehicle control method and device and unmanned aerial vehicle

Info

Publication number: WO2020014930A1
Application number: PCT/CN2018/096330
Authority: WO
Inventors: 赖镇洲; 王凯
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-19
Filing date: 2018-07-19
Publication date: 2020-01-23
Also published as: CN110832420A

Abstract

An unmanned aerial vehicle control method and device and an unmanned aerial vehicle. The method comprises: obtaining flight parameters of an aircraft, the flight parameters of the aircraft comprising a flight position and a flight speed (S201); obtaining flight parameters of an unmanned aerial vehicle, the flight parameters of the unmanned aerial vehicle comprising a flight position (S202); determining, on the basis of the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle, a collision avoidance flight speed of the unmanned aerial vehicle (S203); predicting, on the basis of the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle, a maximum degree of threat posed by the unmanned aerial vehicle to the aircraft when the unmanned aerial vehicle is flown at the collision avoidance flight speed and maintains a constant speed (S204); and performing, on the basis of the maximum degree of threat, a collision avoidance operation (S205). The method is employed to first predict the degree of threat posed by the unmanned aerial vehicle to the aircraft when the unmanned aerial vehicle maintains a collision avoidance flight speed with respect to the aircraft, and then to perform a collision avoidance operation, thereby ensuring that the unmanned aerial vehicle, beginning from a current moment, will not interfere with normal flight of the aircraft, and ensuring flight safety of the aircraft.

Description

UAV control method and device, and UAV

Technical field

Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a method, a device, and an unmanned aerial vehicle control method.

Background technique

In recent years, drones have been widely used and have played an increasingly important role in the social field. Drones generally fly in airspace, but as the number of drones in airspace increases, ceilings increase, and some users take off drones near airports, the drones gradually invade the airspace of civil aviation flights. It seriously affects the safety of large aircraft and its passengers, so measures need to be taken to avoid collisions between drones and large aircraft. At present, an aircraft can broadcast its own position in real time, and then determine the distance between the drone and the aircraft based on the current position of the drone and the position of the aircraft. If the distance is less than a preset distance, the drone and the aircraft are determined. The possibility of an aircraft collision is high, and an early warning information is output to the user. The user controls the drone according to the early warning information to reduce this possibility. If the distance is greater than or equal to a preset distance, it is determined that the drone collides with the aircraft. The probability is low and no warning information is output to the user.

However, even if the currently calculated distance is greater than or equal to the preset distance, if the drone and the aircraft fly opposite each other, the failure to output the warning information in time will cause the drone to interfere with the aircraft, and then affect the flight safety of the aircraft.

Summary of the invention

Embodiments of the present invention provide a control method, a device, and a drone for a drone, which are used to prevent the drone from interfering with an aircraft and ensure flight safety of the aircraft.

In a first aspect, an embodiment of the present invention provides a method for controlling a drone, including:

Acquiring flight parameters of the aircraft, the flight parameters including: flight position and flight speed;

Acquiring flight parameters of the drone, where the flight parameters of the drone include: flight position;

Predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum permitted flight speed of the drone in at least one space direction;

Performing a collision prevention operation according to the minimum distance;

The speed includes a speed direction and a speed magnitude.

In a second aspect, an embodiment of the present invention provides a method for controlling a drone, including:

Acquiring flight parameters of the aircraft, the flight parameters of the aircraft including: flight position, flight speed;

Determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone;

According to the flight parameters of the aircraft and the flight parameters of the drone, in a case where the drone is flying at the avoiding flight speed and the speed is maintained constant, the maximum of the drone to the aircraft is Degree of threat

Performing a collision prevention operation according to the maximum threat level;

The speed includes a speed direction and a speed magnitude.

According to a third aspect, an embodiment of the present invention provides a control device for a drone, including: a memory and a processor;

The memory is configured to store code for executing a control method of the drone;

The processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters including: flight position and flight speed; acquiring flight parameters of the drone, the unmanned The flight parameters of the drone include: flight position; predicting the drone and the drone based on the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight speed of the drone in at least one space direction; A minimum distance between the aircraft; performing a collision prevention operation according to the minimum distance; wherein the speed includes a speed direction and a speed magnitude.

According to a fourth aspect, an embodiment of the present invention provides a control device for a drone, including: a memory and a processor;

The processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters of the aircraft including: flight position and flight speed; acquiring flight parameters of the drone, the The flight parameters of the drone include: the flight position; determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone; according to the flight parameters of the aircraft and the The flight parameters of the human aircraft predict the maximum threat degree of the drone to the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained unchanged; according to the maximum threat degree, execute A collision prevention operation; wherein the speed includes a speed direction and a speed magnitude.

In a fifth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including: the third aspect or the control device for the unmanned aerial vehicle according to the third aspect of the embodiment of the present invention.

According to a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, where the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all The computer executes the control method of the drone according to the first aspect or the second aspect of the embodiment of the present invention.

In a seventh aspect, an embodiment of the present invention provides a computer program for implementing the first or second aspect of the method for controlling a drone according to an embodiment of the present invention when the computer program is executed by a computer.

The control method, device and drone of the drone provided by the embodiments of the present invention are obtained by acquiring flight parameters of the aircraft and flight parameters of the drone; according to the flight parameters of the aircraft and the flight parameters of the drone, Determining the avoidance flight speed of the drone; and predicting, under the flight parameters of the aircraft and the flight parameters of the drone, that the drone is flying at the avoidance flight speed while maintaining the same speed, The maximum threat degree of the drone to the aircraft; and performing a collision prevention operation according to the maximum threat degree. This embodiment first predicts the threat degree of the drone to the aircraft if the drone avoids the flight of the aircraft, and then performs a collision prevention operation, thereby ensuring that the drone does not interfere with the normal flight of the aircraft from the current moment and ensures the aircraft Flight safety.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention;

2 is a flowchart of a method for controlling a drone according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of obtaining an avoidance flight speed according to an embodiment of the present invention; FIG.

4 is a flowchart of a method for controlling a drone according to another embodiment of the present invention;

5 is a schematic structural diagram of a control device for an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it may be directly on another component or a centered component may exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Embodiments of the present invention provide a method, a device, and a drone for controlling a drone. The drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air. Embodiments of the present invention are not limited thereto.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention. This embodiment is described by taking a rotary wing drone as an example.

The unmanned aerial system 100 may include an unmanned aerial vehicle 110, a display device 130, and a control device 140. The UAV 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack. The drone 110 may perform wireless communication with the control terminal 140 and the display device 130.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame. The tripod is connected to the fuselage, and is used to support the UAV 110 when landing.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153. The electric motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the drone 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a Global Positioning System (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110. For example, the flight controller 161 may control the flight of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to a pre-programmed program instruction, and may also control the drone 110 by responding to one or more control instructions from the control terminal 140.

The gimbal 120 may include a motor 122. The gimbal is used to carry the photographing device 123. The flight controller 161 may control the movement of the gimbal 120 through the motor 122. Optionally, as another embodiment, the PTZ 120 may further include a controller for controlling the movement of the PTZ 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal can be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera. The photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller. The photographing device 123 of this embodiment includes at least a photosensitive element. The photosensitive element is, for example, a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.

The display device 130 is located on the ground side of the unmanned flight system 100, can communicate with the drone 110 wirelessly, and can be used to display attitude information of the drone 110. In addition, an image captured by the imaging device may be displayed on the display device 130. It should be understood that the display device 130 may be an independent device, or may be integrated in the control terminal 140.

The control terminal 140 is located on the ground side of the unmanned flight system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remotely controlling the unmanned aerial vehicle 110.

It should be understood that the above-mentioned naming of each component of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present invention.

FIG. 2 is a flowchart of a drone control method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:

S201. Acquire flight parameters of an aircraft, where the flight parameters include: flight position and flight speed.

S202. Acquire a flight parameter of the drone. The flight parameter of the drone includes a flight position.

In this embodiment, the flight parameters of the aircraft can be obtained, and the flight parameters of the drone can also be obtained. It should be noted that this embodiment does not limit the order of obtaining the flight parameters of the aircraft and the flight parameters of the drone. The flight parameters may be acquired in real time, or the flight parameters may be acquired at preset intervals. Wherein, obtaining the flight parameters of the aircraft may be: obtaining the flight parameters of the aircraft published through the Internet, or obtaining the flight parameters of the aircraft received by the Broadcast Automatic Dependent Surveillance Broadcast (ADS-B) equipment on the drone. . Optionally, acquiring the first flight status information of the aircraft sent through the Internet may include: acquiring the published first flight status information of the aircraft through a preset website, which may be, for example, status information of some professional aircraft Websites for querying or publishing (for example, www.flightradar24.com, zh.flightaware.com, etc.).

Among them, the flight parameters of the aircraft include: flight position and flight speed. Optionally, the flight parameters of the aircraft may further include one or more of acceleration, altitude, and identity information.

Among them, the flight parameters of the drone include: flight position. Optionally, the flight parameters of the drone may further include one or more of flight speed information, acceleration, altitude, and identity information.

S203. Determine the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone.

In this embodiment, the avoidance flight speed of the UAV is determined according to the currently acquired flight parameters of the aircraft and the UAV flight parameters. The avoidance flight speed of the drone makes the drone move away from the aircraft if the drone is flying at the avoidance flight speed.

Wherein, the above-mentioned speed includes the speed direction and the speed magnitude, it can also be considered that the speed can be represented by a speed vector.

S204. Based on the flight parameters of the aircraft and the flight parameters of the drone, predicting that the drone is flying at the avoidance flight speed and maintaining the same speed, the drone makes an attack on the aircraft. The greatest threat.

In this embodiment, after the avoidance flight speed of the drone is determined, if the drone is flying at the avoidance flight speed, then based on the flight parameters of the aircraft and the flight parameters of the drone, the drone is predicted to use the In the case of avoiding flight speed and maintaining the same speed, the maximum threat degree of the drone to the aircraft from the current moment. This maximum level of threat can indicate the degree of danger the drone poses to the aircraft.

In some embodiments, if the distance between the drone and the aircraft is smaller, it means that the drone threatens the aircraft more. Therefore, it is possible to predict the maximum threat degree of the drone to the aircraft by predicting the minimum distance between the drone and the aircraft. Wherein, a possible implementation manner of the above S204 is: predicting, based on the flight parameters of the aircraft and the flight parameters of the drone, that the drone will fly at the avoiding flight speed and maintain the same speed In this case, the minimum distance between the drone and the aircraft from the current moment; and then based on the minimum distance, determine the maximum threat degree of the drone to the aircraft, which can be obtained, for example, by the following formula :

ρ _{b, a} = -min || P _a (t + t ₀ ) -P _b (t + t ₀ ) || ₂ .

Among them, P _a represents the position of the aircraft, P _b represents the position of the drone, t ₀ represents the current time, t + t ₀ is the time after the start of the current time t ₀ , and _{ρb, a} represents the greatest threat of the drone to the aircraft. The degree can also be called the maximum threat coefficient. It can be known from the above formula that the maximum threat degree is a negative value of the minimum distance. The larger _{ρb, a} indicates the more dangerous between the drone and the aircraft, _{and the} smaller _{ρb, a} indicates the safer between the drone and the aircraft.

S205. Perform a collision prevention operation according to the maximum threat degree.

In this embodiment, after the maximum threat degree of the drone to the aircraft is predicted, according to the maximum threat degree, a collision prevention operation is performed.

If flight parameters of multiple aircrafts can be obtained, this embodiment can predict the maximum threat degree of the drone to each aircraft through the above S201-S204, and then from the predicted maximum threat degree of the drone to all aircraft, A maximum value is determined, and the maximum value is used as the maximum threat degree in the execution of S205, and the maximum value represents the maximum value of the threat degree of the drone to all aircraft.

In some embodiments, after obtaining the maximum threat level, the maximum threat level is compared with a preset threat level. If the maximum threat level is greater than the preset threat level, the drone is controlled to fly at an evasive flight speed so that the unmanned Keep the aircraft away from the aircraft as soon as possible to prevent the drone from causing danger to the aircraft and prevent interference with the aircraft's flight. If this embodiment is applied to a control terminal of a drone, the control terminal sends a flight control instruction to the drone when it is determined that the maximum threat degree is greater than a preset threat degree, and the flight control instruction is used to control the drone Flying at said avoiding flight speed. If the maximum threat level is less than or equal to the preset threat level, the flight speed is not adopted to avoid flight. In this embodiment, a prompt message may be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the The degree of threat of a human-machine to the aircraft. This embodiment can also classify the degree of threat. Different levels of threat can be distinguished by different colors. Therefore, the prompt information can indicate the threat level of the maximum degree of threat by different colors. To prompt the user to pay attention to avoidance. The prompt information can also indicate the distribution of aircraft in the surrounding airspace of the drone (such as flight position and flight direction, etc.). If this implementation is applied to a drone, the drone sends prompt information to the control terminal of the drone after determining that the maximum threat level is less than or equal to a preset threat level, so that the control terminal displays the prompt information on the display device.

Optionally, the preset threat degree may be, for example, -23550, which means that when the minimum distance between the drone and the aircraft is predicted to be less than 2350 meters, the drone is controlled to fly at an avoiding flight speed.

In some embodiments, if it is determined that the maximum threat degree is greater than a preset threat degree, it is further determined whether the distance between the drone and the ground is greater than a first safety distance, which is, for example, 10 meters. If the distance on the ground is greater than the first safe distance, the drone is controlled to fly at an avoiding flight speed, so as to keep the drone away from the aircraft as soon as possible, to prevent the drone from causing danger to the aircraft, and to prevent interference with the aircraft's flight. If the distance between the drone and the ground is less than or equal to the first safety distance, since the aircraft generally does not fly in the area close to the ground, in order to prevent the drone from sudden maneuvers when it is not affected by the aircraft when flying near the ground, do not The drone is controlled to avoid flying at flight speed; however, this embodiment can control the drone to wait to receive the user's operation instruction (such as the amount of joystick input by the user) and fly according to the user's operation instruction, or control the drone suspension stop. In this embodiment, prompt information may also be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the threat degree of the drone to the aircraft.

In some embodiments, if it is determined that the maximum threat degree is greater than a preset threat degree, it is also judged whether the drone detects whether there is an obstacle within a second safety distance in front, the second safety distance is, for example, 10 meters, and optionally Ground, the drone can detect whether there is an obstacle within the second safe distance ahead by visual sensors or radar. If the drone detects that there are no obstacles within the second safe distance in front, the drone is controlled to fly at an avoiding flight speed so as to keep the drone away from the aircraft as soon as possible to prevent the drone from causing danger to the aircraft and preventing interference. Flight to the aircraft. If the drone detects that there is an obstacle within the second safe distance ahead, the obstacle may be a non-moving obstacle, and the drone is not controlled to fly at an avoiding flight speed, but is instead controlled to hover the drone. This is due to the presence of obstacles. Aircraft generally fly as far away from the obstacle as possible, and do not fly near the obstacle. Therefore, when the distance between the drone and the obstacle is relatively short, it can be considered that the drone interferes with the aircraft. Relatively small, the drone can avoid flying at avoiding flight speed, but control the drone to hover to prevent the drone from colliding with obstacles. In this embodiment, prompt information may also be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the threat degree of the drone to the aircraft.

In some embodiments, before executing S203, it is determined whether the distance between the drone and the ground is greater than the first safety distance. If the distance between the drone and the ground is greater than the first safety distance, the automatic avoidance aircraft function of the drone is turned on, and the above S203-S205 are performed. If the distance between the drone and the ground is less than or equal to the first safety distance, the automatic avoidance aircraft function of the drone is turned off, and the above S203-S205 are not performed. Therefore, this embodiment can determine whether to enable the automatic avoidance aircraft function by judging whether the distance between the drone and the ground is greater than the first safety distance, and execute S203-S205, which can save processing resources.

The method for controlling a drone provided by this embodiment is to obtain flight parameters of the aircraft and flight parameters of the drone, and determine the drone's performance based on the flight parameters of the aircraft and the flight parameters of the drone. Avoidance flight speed; based on the flight parameters of the aircraft and the flight parameters of the drone, predicting that the drone is flying at the avoidance flight speed and maintaining the same speed, the drone approaches the destination. The maximum threat level of the aircraft is described; according to the maximum threat level, a collision prevention operation is performed. This embodiment first predicts the threat degree of the drone to the aircraft if the drone avoids the flight of the aircraft, and then performs a collision prevention operation, thereby ensuring that the drone does not interfere with the normal flight of the aircraft from the current moment and ensures the aircraft Flight safety.

In some embodiments, based on the above embodiments, a possible implementation manner of the above S203 is: according to the displacement of the aircraft relative to the drone, and the relative flight speed, from the drone at least The avoidance flight speed is determined from a maximum permitted flight speed in a space direction. Wherein, the relative flight speed includes the relative flight speed between the maximum permitted flight speed of the drone in each of the at least one space direction and the flight speed of the aircraft, and the displacement is determined by the flight position of the aircraft and The flight position of the drone is determined, and the displacement includes a direction and a distance of the aircraft relative to the drone. That is, as shown in FIG. 3, according to the flight position (P _a ) of the aircraft and the flight position (P _b ) of the drone, the displacement of the aircraft relative to the drone (P _ab ) is determined; Relative flight speed (ν _a ) and the maximum permitted flight speed (ν _b ) of the drone in at least one space direction to determine the relative flight speed (ν _ab ); and then based on the aircraft's displacement relative to the drone (P _ab ) , And the above-mentioned relative flight speed (ν _ab ), from the maximum permitted flight speed of the drone in at least one space direction, the maximum permitted flight speed in one of the space directions is determined as the avoidance flight speed. So that the drone can fly away from the aircraft with the maximum allowable maneuverability.

Optionally, in an implementation manner, the avoidance flight may be determined from a maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed. speed. As shown in FIG. 3, if the speeds of the maximum permitted speeds of the drone in each spatial direction are the same, the maximum permitted flying speeds in each spatial direction will form a space body, such as a sphere, in space. It should be noted that, in general, the horizontal speed of some drones is greater than the ascending speed, and the ascending speed is greater than the descending speed. The forward speed of some drones is much greater than the vertical and lateral speeds, and there is no reverse speed. In addition, the environmental factors at the time, such as wind speed, must be considered, so almost all drones have anisotropy in speed in all directions. The above-mentioned space body may be an irregularly shaped space body. At this time, when the maximum permitted flight speed in a certain space direction, the relative flight speed between the maximum permitted flight speed in the space direction and the aircraft's flight speed, the displacement is coplanar, and the coplanar surface and the surface of the space body When tangent, the angle between the displacement and the relative flight speed is the largest, so the maximum permitted flight speed in the space direction is the avoidance flight speed. If the drone is flying at the avoiding flight speed from the current moment, the minimum distance between the drone and the aircraft is d _min .

In some embodiments, when the UAV enables the visual obstacle avoidance function, the maximum permitted flying speed of the UAV in at least one spatial direction includes: the maximum speed in at least one spatial direction when the visual obstacle avoidance is valid. Allowed flight speed. Optionally, in this case, if the avoidance flight speed is used to perform the avoidance flight, the drone yaw angle can be adjusted at the same time as the horizontal direction of the drone to ensure that the drone can still avoid normal avoidance during the avoidance Drive obstacles.

In some embodiments, the maximum permitted flying speed of the drone in at least one space direction includes a preset maximum speed in a preset space direction. Generally, an aircraft flies above a drone. When determining the avoidance flight speed of a drone, it generally does not control the drone to fly upwards when performing an avoidance operation. Therefore, the preset maximum in the preset space direction The speed may include preset maximum speeds in each space direction in which the drone is oriented horizontally downward.

In some embodiments, a possible implementation manner of the above S204 is: according to the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft's flight speed relative to the avoidance flight speed, In the case where the unmanned aerial vehicle is flying at the avoiding flight speed while maintaining the same speed, the maximum threat degree of the unmanned aerial vehicle to the aircraft is predicted. The displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone. The displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.

In this embodiment, the displacement of the drone relative to the aircraft may be determined according to the flight position of the aircraft and the flight position of the drone, and the aircraft may be determined according to the flight speed of the aircraft and the avoidance flight speed of the drone. Relative flight speed relative to the drone, and then based on the displacement of the drone relative to the aircraft and the relative flight speed, predicting that the drone will fly at the avoiding flight speed and keep the speed constant In the case, the greatest threat degree of the drone to the aircraft.

Optionally, in an implementation manner, whether the drone is located in front of the aircraft may be determined according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft. When the drone is located in front of the aircraft, predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed In the case where the unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant, the maximum threat degree of the unmanned aerial vehicle to the aircraft. When the drone is located behind the aircraft, based on the displacement of the drone relative to the aircraft, predicting that the drone will fly at the avoiding flight speed and maintain the same speed, The maximum threat level of the drone to the aircraft. Among them, the area in front of the aircraft can be considered as the area of view of the pilot of the aircraft.

Optionally, in another implementation manner, the displacement of the drone relative to the aircraft may be determined based on the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Whether the angle between the aircraft's flight speed is obtuse. When the included angle is an obtuse angle, according to the displacement of the drone relative to the aircraft, it is predicted that the drone will fly at the avoiding flight speed and maintain the same speed, under the condition that the drone The greatest degree of threat to the aircraft. When the included angle of the drone relative to the aircraft is not an obtuse angle, according to the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed , Predicting the maximum threat degree of the drone to the aircraft under the circumstance that the drone flies at the avoiding flight speed and maintains the same speed.

A possible implementation manner for determining whether an included angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle is: according to the drone relative to the aircraft The displacement and flight speed of the aircraft, determine

Where ν _a represents the flying speed of the aircraft at the current moment, and P _ba represents the displacement of the drone relative to the aircraft at the current moment,

Transpose indicating the flight speed of the aircraft. in case

If the value of is greater than 0, it is determined that the included angle is not an obtuse angle. in case

If the value of is less than or equal to 0, it is determined that the included angle is an obtuse angle.

Optionally, based on the displacement of the drone relative to the aircraft mentioned above, in the case where the drone is predicted to fly at the avoiding flight speed and maintain the same speed, the drone is in the One way to achieve the maximum threat level of the aircraft is to determine the maximum threat level according to || P _ba || ₂ , where P _ba is the displacement of the drone relative to the aircraft at the current moment. That is, when the drone is located behind the aircraft, or when the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle, the distance between the drone and the aircraft The minimum distance is the distance between the drone and the aircraft at the current moment.

Optionally, the above-mentioned prediction based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed, predicts the drone to adopt the avoidance flight speed In the case of flying and maintaining the same speed, an implementation manner of the greatest threat degree of the drone to the aircraft is:

according to

The maximum level of threat is determined, wherein, P _ba the current time with respect to the displacement of the drone aircraft, ν _ab flight speed of the aircraft is flying relative speed with respect to the flying speed avoidance.

That is, when the drone is located in front of the aircraft, or the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is not an obtuse angle,

Is the minimum distance between the drone and the aircraft from the current moment.

Optionally, in other embodiments, different from the foregoing embodiments, the maximum threat degree is not predicted, but the minimum distance is predicted, and then the collision prevention operation is performed according to the minimum distance, as shown in FIG. 4. FIG. 4 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 4, the method in this embodiment may include:

S401. Acquire flight parameters of an aircraft. The flight parameters of the aircraft include a flight position and a flight speed.

S402. Acquire a flight parameter of the drone. The flight parameter of the drone includes a flight position.

For the specific implementation process of S401 and S402 in this embodiment, refer to the related description in the embodiment shown in FIG. 2, and details are not described herein again.

S403. Predict the minimum between the drone and the aircraft according to the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight speed of the drone in at least one space direction. distance.

In this embodiment, according to the flight parameters of the aircraft and the flight parameters of the drone, it is possible to predict that the drone will fly at the maximum permitted flight speed in at least one space direction and remain unchanged under the condition that the drone is not changed. The minimum distance between the aircraft and the aircraft.

In a possible implementation manner, the avoidance flight speed may be determined from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed is the One of the maximum permitted flight speeds of the drone in at least one space direction, the avoidance flight speed is used to move the drone away from the aircraft; and then according to the flight position, flight speed, and The flying position of the drone, the minimum distance between the drone and the aircraft is predicted in the case where the drone is flying at the avoiding flight speed and the speed is maintained. For the specific implementation process, refer to the description in the foregoing embodiments, and details are not described herein again.

S404. Perform a collision prevention operation according to the minimum distance.

In this embodiment, after the minimum distance between the drone and the aircraft is predicted, a collision prevention operation is performed according to the minimum distance. Among them, the smaller the minimum distance, the greater the maximum threat degree of the drone to the aircraft, and the larger the minimum distance, the smaller the maximum threat degree of the drone to the aircraft. For the specific implementation process, refer to the description in the foregoing embodiments, and details are not described herein again.

The method for controlling a drone provided by this embodiment is obtained by acquiring flight parameters of the aircraft and flight parameters of the drone; according to the flight parameters of the aircraft, the flight parameters of the drone, and whether the drone is at least at least The maximum permitted flight speed in one space direction predicts the minimum distance between the drone and the aircraft; and performs a collision prevention operation based on the minimum distance. In this embodiment, the minimum possible distance between the drone and the aircraft is predicted, and then a collision prevention operation is performed, so as to ensure that the drone does not interfere with the normal flight of the aircraft from the current moment and guarantee the flight safety of the aircraft.

An embodiment of the present invention also provides a computer storage medium. The computer storage medium stores program instructions. When the program is executed, the program may include part or all of the steps of the method for controlling a drone in the foregoing embodiments.

FIG. 5 is a schematic structural diagram of a drone control device according to an embodiment of the present invention. As shown in FIG. 5, the drone control device 500 in this embodiment may include a memory 501 and a processor 502. The memory 501 and the processor 502 are connected via a bus.

The processor 502 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), or an application-specific integrated circuit (ASIC). ), Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 501 is configured to store code for executing a control method of the drone.

In one implementation, the processor 502 is configured to call the code stored in the memory 501 and execute: obtain flight parameters of the aircraft, the flight parameters include: flight position, flight speed, and acquire unmanned Flight parameters of the drone, the flight parameters of the drone include: flight position; according to the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight of the drone in at least one space direction Speed, predicting a minimum distance between the drone and the aircraft; performing a collision prevention operation based on the minimum distance; wherein the speed includes a speed direction and a speed magnitude.

Optionally, the processor 502 is specifically configured to determine the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed It is one of the maximum permitted flight speeds of the drone in at least one space direction, and the avoidance flight speed is used to move the drone away from the aircraft; according to the flight position of the aircraft, flight The speed and the flying position of the drone predict the minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained.

Optionally, the processor 502 is specifically configured to: according to a displacement of the aircraft relative to the drone, and a relative flight speed, a maximum permitted flight speed from the drone in at least one space direction To determine the avoidance flight speed. Wherein, the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.

Optionally, the processor 502 is specifically configured to determine the position of the drone from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed. The avoidance flight speed is described. Wherein, the avoidance flight speed makes the relative flight speed between the flight speed of the aircraft and the avoidance flight speed, and the angle between the displacements is the largest.

Optionally, the processor 502 is specifically configured to predict the UAV based on the displacement of the UAV relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance between the unmanned aerial vehicle and the aircraft when the unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant. Wherein, the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone, and the displacement of the drone relative to the aircraft includes the drone Relative to the direction and distance of the aircraft.

Optionally, the processor 502 is specifically configured to determine whether the drone is located in front of the aircraft according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft. When the drone is located in front of the aircraft, the aircraft is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance; and / or, when the drone is located behind the aircraft, predicting the minimum distance based on the displacement of the drone relative to the aircraft.

Optionally, the processor 502 is specifically configured to determine the displacement of the drone relative to the aircraft according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Describes whether the angle between the aircraft's flight speed is an obtuse angle. When the included angle is an obtuse angle, predicting the minimum distance based on the displacement of the drone relative to the aircraft; and / or, when the included angle is not an obtuse angle, according to the drone relative to The minimum distance is predicted by the displacement of the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed.

Optionally, the processor 502 is specifically configured to: when the minimum distance is less than a preset distance, control the drone to fly at the avoidance flight speed; or send flight control to the drone An instruction, the flight control instruction is used to control the drone to fly at the avoiding flight speed.

Optionally, the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance and the minimum distance is less than a preset distance, control the drone to use the avoidance Flying at flying speed.

Optionally, the processor 502 is further configured to: when the minimum distance is greater than or equal to a preset distance, display a prompt message on a display device of a control terminal of the drone, or control the drone The terminal sends a prompt message. The prompt information is used to prompt the threat degree of the drone to the aircraft.

Optionally, the processor 502 is specifically configured to control the drone to hover when the drone detects an obstacle within the second safe distance ahead and the minimum distance is less than a preset distance. .

Optionally, the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, predict the aircraft according to flight parameters of the aircraft and flight parameters of the drone. The minimum distance between the drone and the aircraft.

Optionally, when the UAV enables the visual obstacle avoidance function, the maximum permitted flying speed of the UAV in at least one spatial direction is: the maximum permitted flying speed of at least one spatial direction when the visual obstacle avoidance is valid. .

Optionally, the maximum permitted flying speed of the drone in at least one space direction includes: a preset maximum speed in a preset space direction.

Optionally, the processor 502 is specifically configured to: obtain the flight parameters of the aircraft published through the Internet; and / or obtain the flight parameters of the aircraft detected by the broadcast-type automatic correlation monitoring device on the drone.

In another implementation, the processor 502 is configured to call the code stored in the memory 501 and execute: obtain flight parameters of the aircraft, and the flight parameters of the aircraft include: flight position and flight speed; Obtain flight parameters of the drone, the flight parameters of the drone include: flight position; determine the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone; The flight parameters of the aircraft and the flight parameters of the drone predict the greatest threat of the drone to the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained. Degree; performing a collision prevention operation according to the maximum threat degree; wherein the speed includes a speed direction and a speed magnitude.

Optionally, the processor 502 is specifically configured to determine the position of the drone from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed. The avoidance flight speed is described. The avoidance flight speed is such that the angle between the relative flight speed of the aircraft's flight speed and the avoidance flight speed and the displacement is the largest.

Optionally, the processor 502 is specifically configured to predict the UAV based on the displacement of the UAV relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed. In the case where an unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant, the maximum threat degree of the unmanned aerial vehicle to the aircraft. The displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone. The displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.

Optionally, the processor 502 is specifically configured to determine whether the drone is located in front of the aircraft according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft. When the drone is located in front of the aircraft, predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed The maximum threat level; and / or when the drone is located behind the aircraft, predicting the maximum threat level based on the displacement of the drone relative to the aircraft.

Optionally, the processor 502 is specifically configured to determine the displacement of the drone relative to the aircraft according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Describes whether the angle between the aircraft's flight speed is an obtuse angle. When the included angle is an obtuse angle, predicting the maximum degree of threat based on the displacement of the drone relative to the aircraft; and / or, when the included angle is not an obtuse angle, according to the drone relative The maximum threat degree is predicted based on the displacement of the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed.

Optionally, when the UAV enables the visual obstacle avoidance function, the maximum permitted flight speed of the UAV in at least one space direction includes: the maximum permitted flight speed of the UAV in at least one space direction speed.

Optionally, the processor 502 is specifically configured to: when the maximum threat degree is greater than a preset threat degree, control the drone to fly at the avoidance flight speed; or send to the drone A flight control instruction for controlling the drone to fly at the avoiding flight speed.

Optionally, the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance and the maximum threat degree is greater than a preset threat degree, control the drone to use the Said avoid flight speed.

Optionally, the processor 502 is further configured to: when the maximum threat degree is less than or equal to a preset threat degree, display a prompt message on a display device of a control terminal of the drone, or, to the drone The control terminal sends prompt information; the prompt information is used to prompt the threat degree of the drone to the aircraft.

Optionally, the processor 502 is specifically configured to: control the unmanned person when the drone detects an obstacle within a second safe distance ahead and when the maximum threat degree is greater than a preset threat degree Aircraft hover.

Optionally, the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, determine a position based on flight parameters of the aircraft and flight parameters of the drone. The avoidance flight speed of the drone is described.

Optionally, the processor 502 is specifically configured to predict a minimum value between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained. Distance; determining the maximum threat degree based on the minimum distance.

Optionally, the processor 502 is specifically configured to: obtain the flight parameters of the aircraft published through the Internet; and / or obtain the flight parameters of the aircraft received by the broadcast-type automatic correlation monitoring device on the drone.

The apparatus in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

FIG. 6 is a schematic structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 6, the drone 600 in this embodiment may include: a control device 601 for the drone. The control device 601 of the drone may adopt the structure of the device embodiment shown in FIG. 5, and correspondingly, the technical solutions of the foregoing method embodiments of the present invention may be implemented. The implementation principles and technical effects are similar, and are not described here again. To repeat. Optionally, the drone of this embodiment may include a propeller (not shown in the figure), and the control device 601 of the drone may control the drone to control the drone to fly at an avoiding flight speed or control the drone Hover.

In another embodiment, the present invention further provides a ground control device for controlling a drone. The ground control device may include a drone control device, and the drone control device may adopt The structure of the device embodiment shown in FIG. 5 correspondingly can implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and are not repeated here.

A person of ordinary skill in the art may understand that all or part of the steps of the foregoing method embodiments may be completed by a program instructing related hardware. The foregoing program may be stored in a computer-readable storage medium. When the program is executed, the program is executed. Including the steps of the above method embodiment; and the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or to replace some or all of the technical features equivalently; and these modifications or replacements do not depart from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims

A method for controlling a drone, comprising:

Acquiring flight parameters of the aircraft, the flight parameters including: flight position and flight speed;

Acquiring flight parameters of the drone, where the flight parameters of the drone include: flight position;

Predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum permitted flying speed of the drone in at least one space direction;

Performing a collision prevention operation according to the minimum distance;

The speed includes a speed direction and a speed magnitude.
The method according to claim 1, wherein:

Predicting a minimum between the drone and the aircraft based on flight parameters of the aircraft, flight parameters of the drone, and a maximum permitted flight speed of the drone in at least one space direction Distance, including:

The avoidance flight speed is determined from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed is the maximum of the drone in at least one space direction One of the permitted flight speeds, the avoidance flight speed is used to keep the drone away from the aircraft;

According to the flight position, the flight speed of the aircraft, and the flight position of the drone, in a case where the drone is predicted to fly at the avoiding flight speed and the speed is kept constant, the drone The minimum distance between them.
The method according to claim 2, wherein determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft comprises:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to the displacement of the aircraft relative to the drone, and the relative flight speed;

Wherein, the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
The method according to claim 3, wherein:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction based on the displacement of the aircraft relative to the drone and the relative flight speed includes:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed;

Wherein, the avoidance flight speed makes the relative flight speed between the flight speed of the aircraft and the avoidance flight speed, and the angle between the displacements is the largest.
The method according to any one of claims 2-4, wherein:

Based on the flight position, flight speed, and flight position of the drone, predicting that the drone is flying at an avoiding flight speed and maintaining the same speed, the drone and the aircraft Minimum distance between them, including:

Based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft's flight speed relative to the avoidance flight speed, it is predicted that the drone will fly at the avoidance flight speed and maintain a constant speed. Under changing circumstances, the minimum distance between the drone and the aircraft;

Wherein, the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone, and the displacement of the drone relative to the aircraft includes the drone Relative to the direction and distance of the aircraft.
The method according to claim 5, characterized in that the prediction is based on a displacement of the drone relative to the aircraft, and a relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is kept constant includes:

Determining whether the drone is located in front of the aircraft according to the displacement of the drone relative to the aircraft and the flying speed of the aircraft;

When the drone is located in front of the aircraft, the aircraft is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance; and / or,

When the drone is located behind the aircraft, the minimum distance is predicted based on the displacement of the drone relative to the aircraft.
The method according to claim 5, characterized in that the prediction is based on a displacement of the drone relative to the aircraft, and a relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is kept constant includes:

Determining whether the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft;

When the included angle is an obtuse angle, predicting the minimum distance based on the displacement of the drone relative to the aircraft; and / or,

When the included angle is not an obtuse angle, the minimum distance is predicted based on a displacement of the drone relative to the aircraft, and a relative flight speed of the aircraft relative to the avoidance flight speed.
The method according to any one of claims 2-7, wherein performing the collision prevention operation according to the minimum distance comprises:

When the minimum distance is less than a preset distance, controlling the drone to fly at the avoiding flight speed; or sending a flight control instruction to the drone, the flight control instruction is used to control the drone The aircraft flies at the avoiding flight speed.
The method according to claim 8, wherein when the minimum distance is less than a preset distance, controlling the drone to fly at the avoidance flight speed comprises:

When the distance between the drone and the ground is greater than a first safety distance and the minimum distance is less than a preset distance, the drone is controlled to fly at the avoiding flight speed.
The method according to claim 8 or 9, further comprising:

When the minimum distance is greater than or equal to a preset distance, displaying prompt information on a display device of a control terminal of the drone, or sending prompt information to the control terminal of the drone;

The prompt information is used to prompt the threat degree of the drone to the aircraft.
The method according to any one of claims 1-7, wherein the performing a collision prevention operation according to the minimum distance comprises:

When the drone detects that there is an obstacle within the second safe distance in front and the minimum distance is less than a preset distance, controlling the drone to hover.
The method according to any one of claims 1 to 11, wherein the prediction between the drone and the aircraft is based on the flight parameters of the aircraft and the flight parameters of the drone. Minimum distance, including:

When the distance between the drone and the ground is greater than a first safety distance, a minimum distance between the drone and the aircraft is predicted according to flight parameters of the aircraft and flight parameters of the drone.
The method according to any one of claims 1 to 12, characterized in that when the drone enables a visual obstacle avoidance function, the maximum permitted flying speed of the drone in at least one spatial direction is: vision Maximum permitted flight speed in at least one space direction when obstacle avoidance is in effect.
The method according to any one of claims 1-12, wherein the maximum permitted flying speed of the drone in at least one space direction comprises: a preset maximum speed in a preset space direction.
The method according to any one of claims 1 to 14, wherein the acquiring flight parameters of the aircraft comprises:

Obtain flight parameters of aircraft published via the Internet; and / or,

Acquire the flight parameters of the aircraft detected by the broadcast-type automatic correlation monitoring equipment on the drone.
A method for controlling a drone, comprising:

Acquiring flight parameters of the aircraft, the flight parameters of the aircraft including: flight position, flight speed;

Acquiring flight parameters of the drone, where the flight parameters of the drone include: flight position;

Determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone;

According to the flight parameters of the aircraft and the flight parameters of the drone, in a case where the drone is flying at the avoiding flight speed and the speed is maintained constant, the maximum of the drone to the aircraft is Degree of threat

Performing a collision prevention operation according to the maximum threat level;

The speed includes a speed direction and a speed magnitude.
The method according to claim 16, wherein determining the avoidance flight speed of the drone based on the flight parameters of the aircraft and the flight parameters of the drone comprises:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to the displacement of the aircraft relative to the drone, and the relative flight speed;

Wherein, the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
The method according to claim 17, wherein:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction based on the displacement of the aircraft relative to the drone and the relative flight speed includes:

Determining the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed;

The avoidance flight speed is such that the angle between the relative flight speed of the aircraft's flight speed and the avoidance flight speed and the displacement is the largest.
The method according to any one of claims 16 to 18, wherein:

According to the flight parameters of the aircraft and the flight parameters of the drone, in a case where the drone is predicted to fly at the avoiding speed and the speed is maintained, the drone's Maximum threat level, including:

Based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft's flight speed relative to the avoidance flight speed, it is predicted that the drone will fly at the avoidance flight speed while maintaining the speed Under changing circumstances, the greatest degree of threat of the drone to the aircraft;

The displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone. The displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.
The method according to claim 19, wherein the prediction is based on a displacement of the drone relative to the aircraft and a relative flight speed of the aircraft relative to the avoidance flight speed. In the case where the drone is flying at the avoiding flight speed while maintaining the same speed, the maximum threat degree of the drone to the aircraft includes:

Determining whether the drone is located in front of the aircraft according to the displacement of the drone relative to the aircraft and the flying speed of the aircraft;

When the drone is located in front of the aircraft, predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed Maximum threat level; and / or,

When the drone is located behind the aircraft, the maximum threat degree is predicted based on the displacement of the drone relative to the aircraft.
The method according to claim 19, wherein the prediction is based on a displacement of the drone relative to the aircraft and a relative flight speed of the aircraft relative to the avoidance flight speed. When the drone uses the avoiding flight speed and maintains the same speed, the greatest threat to the aircraft by the drone includes:

Determining whether the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft;

When the included angle is an obtuse angle, predicting the maximum degree of threat based on the displacement of the drone relative to the aircraft; and / or,

When the included angle is not an obtuse angle, the maximum threat degree is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed.
The method according to any one of claims 17 to 21, wherein when the drone enables a visual obstacle avoidance function, the maximum permitted flying speed of the drone in at least one spatial direction comprises: vision Maximum permitted flight speed in at least one space direction when obstacle avoidance is in effect.
The method according to any one of claims 17 to 21, wherein the maximum permitted flying speed of the drone in at least one space direction comprises: a preset maximum speed in a preset space direction.
The method according to any one of claims 16-23, wherein the performing a collision prevention operation according to the maximum threat degree comprises:

When the maximum threat degree is greater than a preset threat degree, controlling the drone to fly at the avoiding flight speed; or sending a flight control instruction to the drone, the flight control instruction is used to control the drone UAVs fly at the avoiding flight speed.
The method according to claim 24, wherein, when the maximum threat degree is greater than a preset threat degree, controlling the drone to fly at the avoiding flight speed comprises:

When the distance between the drone and the ground is greater than a first safety distance and the maximum threat degree is greater than a preset threat degree, the drone is controlled to fly at the avoiding flight speed.
The method according to claim 24 or 25, further comprising:

When the maximum threat level is less than or equal to a preset threat level, displaying prompt information on a display device of a control terminal of the drone, or sending prompt information to the control terminal of the drone;

The prompt information is used to prompt the threat degree of the drone to the aircraft.
The method according to any one of claims 16-23, wherein the performing a collision prevention operation according to the maximum threat degree comprises:

When the drone detects that there is an obstacle within the second safe distance ahead, and when the maximum threat level is greater than a preset threat level, controlling the drone to hover.
The method according to any one of claims 16 to 27, wherein determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone comprises:

When the distance between the drone and the ground is greater than the first safety distance, the avoidance flight speed of the drone is determined according to flight parameters of the aircraft and flight parameters of the drone.
The method according to any one of claims 16-28, wherein predicting a maximum threat degree between the drone and the aircraft comprises:

Predicting a minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained constant;

According to the minimum distance, the maximum threat degree is determined.
The method according to any one of claims 16 to 29, wherein the acquiring flight parameters of the aircraft comprises:

Obtain flight parameters of aircraft published via the Internet; and / or,

Acquiring flight parameters of the aircraft received by the broadcast-type automatic correlation monitoring device on the drone.
A control device for an unmanned aerial vehicle, comprising: a memory and a processor;

The memory is configured to store code for executing a control method of the drone;

The processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters including: flight position and flight speed; acquiring flight parameters of the drone, the unmanned The flight parameters of the drone include: flight position; predicting the drone and the drone based on the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight speed of the drone in at least one space direction; A minimum distance between the aircraft; performing a collision prevention operation according to the minimum distance; wherein the speed includes a speed direction and a speed magnitude.
The apparatus according to claim 31, wherein the processor is specifically configured to:

The avoidance flight speed is determined from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed is the maximum of the drone in at least one space direction. One of the permitted flight speeds, the avoidance flight speed is used to keep the drone away from the aircraft;

According to the flight position, the flight speed of the aircraft, and the flight position of the drone, in a case where the drone is predicted to fly at the avoiding flight speed and the speed is maintained, the drone and the aircraft The minimum distance between them.
The apparatus according to claim 32, wherein the processor is specifically configured to: from the drone at least one according to the displacement of the aircraft relative to the drone and the relative flight speed. Determining the avoidance flight speed from the maximum permitted flight speed in the space direction;

Wherein, the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
The device according to claim 33, wherein the processor is specifically configured to: from the drone in at least one spatial direction according to an angle between the displacement and the relative flying speed Determining the evasive flight speed from the maximum permitted flight speed;

Wherein, the avoidance flight speed makes the relative flight speed between the flight speed of the aircraft and the avoidance flight speed, and the angle between the displacements is the largest.
The device according to any one of claims 32-34, wherein the processor is specifically configured to: according to a displacement of the drone relative to the aircraft, and a flight speed of the aircraft relative to A relative flight speed of the avoidance flight speed, predicting a minimum distance between the drone and the aircraft when the drone is flying at the avoidance flight speed and maintains the same speed;

Wherein, the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone, and the displacement of the drone relative to the aircraft includes the drone Relative to the direction and distance of the aircraft.
The apparatus according to claim 35, wherein the processor is specifically configured to:

Determining whether the drone is located in front of the aircraft according to the displacement of the drone relative to the aircraft and the flying speed of the aircraft;

When the drone is located in front of the aircraft, the aircraft is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed. The minimum distance; and / or,

When the drone is located behind the aircraft, the minimum distance is predicted based on the displacement of the drone relative to the aircraft.
The apparatus according to claim 35, wherein the processor is specifically configured to:

Determining whether the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft;

When the included angle is an obtuse angle, predicting the minimum distance based on the displacement of the drone relative to the aircraft; and / or,

When the included angle is not an obtuse angle, the minimum distance is predicted based on a displacement of the drone relative to the aircraft, and a relative flight speed of the aircraft relative to the avoidance flight speed.
The apparatus according to any one of claims 32 to 37, wherein the processor is specifically configured to:

When the minimum distance is less than a preset distance, controlling the drone to fly at the avoiding flight speed; or sending a flight control instruction to the drone, the flight control instruction is used to control the drone The aircraft flies at the avoiding flight speed.
The device according to claim 38, wherein the processor is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance and the minimum distance is less than a preset distance, The drone is flying at the avoiding flight speed.
The device according to claim 38 or 39, wherein the processor is further configured to: when the minimum distance is greater than or equal to a preset distance, display a prompt on a display device of a control terminal of the drone Information, or sending prompt information to the control terminal of the drone;

The prompt information is used to prompt the threat degree of the drone to the aircraft.
The device according to any one of claims 31 to 37, wherein the processor is specifically configured to: when the drone detects that an obstacle exists within a second safe distance ahead and the minimum distance is less than At a preset distance, the hovering of the drone is controlled.
The device according to any one of claims 31 to 41, wherein the processor is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, according to the flight of the aircraft Parameters and flight parameters of the drone, predicting a minimum distance between the drone and the aircraft.
The device according to any one of claims 31-42, wherein when the drone enables a visual obstacle avoidance function, the maximum permitted flying speed of the drone in at least one spatial direction is: vision Maximum permitted flight speed in at least one space direction when obstacle avoidance is in effect.
The device according to any one of claims 31-42, wherein the maximum permitted flight speed of the drone in at least one space direction comprises: a preset maximum speed in a preset space direction.
The device according to any one of claims 31-44, wherein the processor is specifically configured to: obtain flight parameters of an aircraft released through the Internet; and / or obtain a broadcast type on the drone Aircraft flight parameters detected by automatic correlation monitoring equipment.
A control device for an unmanned aerial vehicle, comprising: a memory and a processor;

The memory is configured to store code for executing a control method of the drone;

The processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters of the aircraft including: flight position and flight speed; acquiring flight parameters of the drone, the The flight parameters of the drone include: the flight position; determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone; according to the flight parameters of the aircraft and the The flight parameters of the human aircraft predict the maximum threat degree of the drone to the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained unchanged; according to the maximum threat degree, execute A collision prevention operation; wherein the speed includes a speed direction and a speed magnitude.
The device according to claim 46, wherein the processor is specifically configured to: from the drone in at least one according to the displacement of the aircraft relative to the drone, and the relative flight speed. Determining the avoidance flight speed from the maximum permitted flight speed in the space direction;

Wherein, the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
The device according to claim 47, wherein the processor is specifically configured to: from the drone in at least one spatial direction according to an angle between the displacement and the relative flying speed Determining the evasive flight speed from the maximum permitted flight speed;

The avoidance flight speed is such that the angle between the relative flight speed of the aircraft's flight speed and the avoidance flight speed and the displacement is the largest.
The device according to any one of claims 46 to 48, wherein the processor is specifically configured to: according to a displacement of the drone relative to the aircraft, and a flight speed of the aircraft relative to The relative flight speed of the avoidance flight speed, predicting the maximum threat degree of the drone to the aircraft when the drone is flying at the avoidance flight speed and maintains the same speed;

The displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone. The displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.
The apparatus according to claim 49, wherein the processor is specifically configured to:

Determining whether the drone is located in front of the aircraft according to the displacement of the drone relative to the aircraft and the flying speed of the aircraft;

When the drone is located in front of the aircraft, predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed Maximum threat level; and / or,

When the drone is located behind the aircraft, the maximum threat degree is predicted based on the displacement of the drone relative to the aircraft.
The apparatus according to claim 49, wherein the processor is specifically configured to:

Determining whether the angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft;

When the included angle is an obtuse angle, predicting the maximum degree of threat based on the displacement of the drone relative to the aircraft; and / or,

When the included angle is not an obtuse angle, the maximum threat degree is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed.
The device according to any one of claims 47-51, wherein when the drone enables a visual obstacle avoidance function, the maximum permitted flying speed of the drone in at least one spatial direction comprises: vision Maximum permitted flight speed in at least one space direction when obstacle avoidance is in effect.
The device according to any one of claims 47 to 51, wherein the maximum permitted flying speed of the drone in at least one space direction comprises: a preset maximum speed in a preset space direction.
The device according to any one of claims 46-53, wherein the processor is specifically configured to: when the maximum threat degree is greater than a preset threat degree, control the drone to adopt the avoidance Flying at a flying speed; or sending a flying control instruction to the drone, where the flying control instruction is used to control the drone to fly at the avoiding flying speed.
The device according to claim 54, wherein the processor is specifically configured to: when the distance between the drone and the ground is greater than a first safe distance and the maximum threat degree is greater than a preset threat degree, And controlling the drone to fly at the avoiding flight speed.
The device according to claim 54 or 55, wherein the processor is further configured to: on the display device of the control terminal of the drone when the maximum threat degree is less than or equal to a preset threat degree Display prompt information, or send prompt information to the control terminal of the drone; the prompt information is used to prompt the degree of threat of the drone to the aircraft.
The device according to any one of claims 46-53, wherein the processor is specifically configured to: when the drone detects that there is an obstacle within a second safe distance ahead and the maximum threat When the degree is greater than a preset threat degree, controlling the drone to hover.
The device according to any one of claims 46-57, wherein the processor is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, according to the flight of the aircraft The parameters and the flight parameters of the drone determine the avoidance flight speed of the drone.
The device according to any one of claims 46-58, wherein the processor is specifically configured to:

Predicting a minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained constant;

According to the minimum distance, the maximum threat degree is determined.
The device according to any one of claims 46 to 59, wherein the processor is specifically configured to: obtain flight parameters of an aircraft released through the Internet; and / or obtain a broadcast-type on the drone Aircraft flight parameters received by automatic correlation monitoring equipment.
A drone, comprising: a control device for a drone according to any one of claims 31-45, or a control for a drone according to any one of claims 46-60 Device.