WO2021213427A1 - 无人机控制 - Google Patents

无人机控制 Download PDF

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Publication number
WO2021213427A1
WO2021213427A1 PCT/CN2021/088642 CN2021088642W WO2021213427A1 WO 2021213427 A1 WO2021213427 A1 WO 2021213427A1 CN 2021088642 W CN2021088642 W CN 2021088642W WO 2021213427 A1 WO2021213427 A1 WO 2021213427A1
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WIPO (PCT)
Prior art keywords
landing
take
standby
section
uav
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PCT/CN2021/088642
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English (en)
French (fr)
Inventor
张邦彦
安培
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北京三快在线科技有限公司
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Publication of WO2021213427A1 publication Critical patent/WO2021213427A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • This application relates to the field of drone technology, specifically to drone control.
  • Multi-UAV takeoff and landing are usually achieved in the following way: multiple UAVs go directly above the target landing point in order, and then land in sequence.
  • a drone control method which includes: in response to a take-off and landing request of the drone, determining a take-off and landing path of the drone, the take-off and landing path including a plurality of standby take-off and landing paths.
  • the standby take-off and landing section includes: at least one first standby take-off and landing section, and two end points of the first standby take-off and landing section respectively The two standby take-off and landing points of the corresponding relationship; the second standby take-off and landing section, one end of the second standby take-off and landing section is the standby take-off and landing point in the lowermost layer of the standby take-off and landing airspace, and the other end is the The upper end point of the vertical take-off and landing section; in the two adjacent floors of the standby take-off and landing airspace, each standby take-off and landing point in the lower floor corresponds to one or more standby take-off and landing points in the upper floor.
  • the height of each standby take-off and landing point is not less than the height of the upper end point of the vertical take-off and landing section.
  • the distance between the two end points of each of the first standby takeoff and landing section and the distance between the two end points of the second standby takeoff and landing section are not less than the UAV Safe flight distance.
  • the distance between the two end points of the first standby take-off and landing section is positively correlated with the safe flight speed of the UAV when passing through the first standby take-off and landing section.
  • the height of the uppermost standby takeoff and landing point used in the standby takeoff and landing section is based on the cruise altitude and/or the cruise altitude supported by the first takeoff and landing section.
  • the cruise altitude supported by the second take-off and landing point is determined, the first take-off and landing point is the take-off and landing point used when the drone takes off, and the second take-off and landing point is the expected landing used by the drone The take-off and landing points.
  • the cruise altitude supported by the first take-off and landing point and the second take-off and landing point are respectively based on the location of the highest point on the ground in the area where the first take-off and landing point and the second take-off and landing point are located.
  • the horizontal plane, and the preset cruise safety altitude are determined.
  • a drone control device including: a path planning unit for determining the take-off and landing path of the drone in response to the take-off and landing request of the drone.
  • the landing path includes multiple standby take-off and landing sections and a vertical take-off and landing section, and the projections of the two end points of the standby take-off and landing section on the horizontal plane do not overlap; the control unit makes the UAV complete the multiple The flight of the take-off and landing section and the vertical take-off and landing section are prepared to achieve take-off or landing, wherein the UAV completes the flight of the take-off and landing section when one take-off and landing section is idle.
  • the standby take-off and landing section includes: at least one first standby take-off and landing section, and two end points of the first standby take-off and landing section respectively The two standby take-off and landing points of the corresponding relationship; the second standby take-off and landing section, one end of the second standby take-off and landing section is the standby take-off and landing point in the lowermost layer of the standby take-off and landing airspace, and the other end is the The upper end point of the vertical take-off and landing section; in the two adjacent floors of the standby take-off and landing airspace, each standby take-off and landing point in the lower floor corresponds to one or more standby take-off and landing points in the upper floor.
  • the height of each standby take-off and landing point is not less than the height of the upper end point of the vertical take-off and landing section.
  • the distance between the two end points of each of the first standby take-off and landing section and the distance between the two end points of the second standby take-off and landing section are not less than the UAV Safe flight distance.
  • the distance between the two end points of the first standby takeoff and landing section is positively correlated with the safe flight speed of the UAV when passing through the first standby takeoff and landing section.
  • the height of the uppermost standby take-off and landing point used in the standby take-off and landing section is based on the cruise altitude and/or the first take-off and landing point supported
  • the cruise altitude supported by the second take-off and landing point is determined
  • the first take-off and landing point is the take-off and landing point used when the drone takes off
  • the second take-off and landing point is the expected landing used by the drone The take-off and landing points.
  • the cruise altitude supported by the first take-off and landing point and the second take-off and landing point are respectively based on the location of the highest point on the ground in the area where the first take-off and landing point and the second take-off and landing point are located.
  • the horizontal plane, and the preset cruise safety altitude are determined.
  • an electronic device including: a processor; and a memory configured to store computer-executable instructions that, when executed by the processor, cause the processor to Perform any of the methods described above.
  • a computer-readable storage medium wherein the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a processor, the Any of the methods described above.
  • Fig. 1 shows a schematic flow chart of a drone control method according to an embodiment of the present application
  • Fig. 2 shows a schematic diagram of a route from a first take-off and landing point to a second take-off and landing point according to an embodiment of the present application
  • FIG. 3 shows a schematic diagram of a take-off and landing path of multiple drones according to an embodiment of the present application
  • Fig. 4A shows a left view of the take-off and landing path of multiple drones according to an embodiment of the present application
  • Fig. 4B shows a top view of a multi-drone take-off and landing path according to an embodiment of the present application
  • Figure 5 shows a schematic structural diagram of a drone control device according to an embodiment of the present application
  • Fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • Fig. 7 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application.
  • Fig. 1 shows a schematic flow chart of a drone control method according to an embodiment of the present application. As shown in Fig. 1, the method includes step S110 to step S120.
  • Step S110 in response to the UAV’s take-off and landing request, determine the take-off and landing path of the UAV.
  • the take-off and landing path includes multiple standby take-off and landing sections and a vertical take-off and landing section, and the two end points of the standby take-off and landing section The projections on the horizontal plane do not overlap.
  • the request for take-off and landing in this application can be either a take-off request or a landing request.
  • the take-off and landing path can be a take-off path or a landing path.
  • the solution in this application supports the scheduling of multiple drones, that is, within the same time period, multiple drones that wish to take off and land at the same target take-off and landing point can be scheduled; at the same time, it also supports the take-off and landing control of a single drone .
  • the target take-off and landing point here is generally a square or circular area, which usually includes the airport (landing pad) for the drone to take off and land, and it can also contain some necessary attachments or facilities, and it can also support no Short-distance taxiing and long-term parking of man and machine.
  • the obstacle restricted airspace can be an inverted cone, the vertex of the inverted cone can be the center of the target take-off and landing point, the cone angle can preferably be 60 degrees, and the plane of the cone bottom surface can be the minimum vertical determined according to each standby take-off and landing section.
  • the airspace in this article refers to a certain range of space defined according to needs.
  • Step S120 the drone is made to complete the flight of the multiple standby take-off and landing segments and the vertical take-off and landing segment in sequence to achieve take-off or landing, wherein the drone is idle in one take-off and landing segment Complete the flight of the take-off and landing section.
  • the projections of the two end points of the standby takeoff and landing section on the horizontal plane do not overlap, which means that the standby takeoff and landing section is inclined or horizontal, rather than vertical.
  • the design of the vertical take-off and landing section conforms to the movement rules of the UAV, ensuring the stability of the final landing.
  • the landing of multiple drones can only be achieved by increasing the time interval and the space interval.
  • the flying height of the drone is 100 meters
  • the vertical landing speed is 1 meter/second
  • only one drone is allowed to land at the same time, then one drone can be landed every 100 seconds.
  • multiple drones in a scenario where multiple drones are landing, multiple drones can be dispersed in the airspace above the target take-off and landing point through multiple take-off and landing paths that do not interfere with each other.
  • Multiple different prepared take-off and landing sections allow the UAV to perform a large height change, which greatly improves the take-off and landing efficiency and ensures safety.
  • a UAV takeoff and landing queue can be maintained and a scheduling algorithm can be used to determine the idle condition of each takeoff and landing path.
  • the method shown in Figure 1 can not only realize the smooth landing of a single drone, but also reduce the number of drones in a multi-drone scenario by combining a vertical take-off and landing section with multiple standby take-off and landing sections. Interference between them improves safety and greatly improves the take-off and landing efficiency of multiple drones.
  • the standby take-off and landing section includes: at least one first standby take-off and landing section. Two standby takeoff and landing points; in the second standby takeoff and landing section, one end of the second standby takeoff and landing section is the standby takeoff and landing point in the lowermost layer of the standby takeoff and landing airspace, and the other end is the upper end of the vertical takeoff and landing section; In the two adjacent floors of the standby airspace, each standby take-off and landing point in the lower floor corresponds to one or more standby take-off and landing points in the upper floor.
  • the multi-layer standby takeoff and landing point in the standby takeoff and landing airspace is a tree structure, but the upper and lower levels here refer to the spatial relationship between high and low.
  • the airspace near the target takeoff and landing point is divided into a standby takeoff and landing airspace and a vertical takeoff and landing channel, and the vertical takeoff and landing channel corresponds to the vertical takeoff and landing section.
  • the prepared takeoff and landing airspace is divided into multiple layers. The stratification here is mainly divided according to height. When the drone is landing, it needs to descend from top to bottom along the standby take-off and landing points of each floor to the vertical take-off and landing channel.
  • each UAV is respectively navigated to the uppermost idle standby take-off and landing point in the standby airspace.
  • the target UAV is navigated to the idle lower standby take-off and landing point until the target UAV reaches the lowest idle standby take-off and land point.
  • the vertical take-off and landing channel is idle, the target UAV is landed to the target take-off and landing point through the vertical take-off and landing channel.
  • the target UAV passes through the vertical take-off and landing channel, and the target UAV is navigated to the lowest idle standby take-off and landing point in the standby airspace.
  • the target drone is navigated to the idle upper-layer standby take-off and landing point until the target drone reaches the uppermost idle standby take-off and landing point.
  • the significance of the standby take-off and landing point at the lowest level is that when there are multiple drones that need to take off and land, the drones need to take off and land sequentially, that is, multiple drones need to wait for one drone to arrive, land, The process of preparation and takeoff before the second drone can land. In other words, we hope that the time for the last drone to complete its process is as short as possible, and it can go to any direction and height freely when it takes off again. And when it completes the process, the next UAV can enter the vertical take-off and landing channel as soon as possible. Therefore, we choose the point closest to the top of the safe takeoff and landing channel (vertical takeoff and landing channel) as the lowermost standby takeoff and landing point.
  • one or several UAVs wait in sequence at several standby take-off and landing points, and ensure that there is no UAV at one standby take-off and landing point, so that the current UAV can take off again. Perform tasks.
  • each standby takeoff and landing point in the lower floor corresponds to m different standby takeoff and landing points on the upper floor (m is a positive integer greater than or equal to 1).
  • the number of uppermost standby takeoff and landing points corresponding to each secondary upper standby takeoff and landing point may be equal to the number of cruise altitudes supported by this standby takeoff and landing point. In this way, it can be ensured that drones of all cruising altitudes can reach this standby take-off and landing point, and when the drone takes off, it can go to all cruise altitudes from this standby take-off and landing point.
  • the cruising altitude in this article refers to the flight altitude maintained by the UAV after it has completed the take-off phase and entered the scheduled route.
  • the height of each standby take-off and landing point is not less than the height of the upper end point of the vertical take-off and landing section. This also avoids the situation that the drone needs to climb during the descent during the landing phase, and avoids the confusion of the flight path.
  • the distance between the two end points of each first standby take-off and landing section and the distance between the two end points of the second standby take-off and landing section are not less than the safe flight distance of the drone.
  • the safe flight distance of the UAV may be determined according to the equipment parameters, flight tasks, and maneuver characteristics of the UAV. If the safe flight distances of the drones served by the take-off and landing points are different, the maximum value should be used.
  • the distance between the two end points of the first standby take-off and landing section is positively correlated with the safe flight speed of the UAV when passing the first standby take-off and landing section.
  • the prepared take-off and landing section will form an angle with the horizontal plane.
  • the UAV When the UAV is flying at different angles, it can determine a safe flight speed. In the same way, if multiple drones have multiple safe flight speeds, the maximum value can be selected so that the distance can be maximized, which ensures safety.
  • the height of the uppermost standby takeoff and landing point used in the standby takeoff and landing section is based on the cruise altitude supported by the first takeoff and landing point and/or the second takeoff and landing.
  • the cruise altitude supported by the descending point is determined.
  • the first take-off and landing point is the take-off and landing point used when the UAV takes off
  • the second take-off and landing point is the take-off and landing point used by the UAV for expected landing.
  • the reference of the altitude may be the standard atmospheric pressure altitude.
  • the cruise altitude supported by the take-off and landing point can be determined based on the horizontal plane of the highest point on the ground in the area passed by the flight path and the preset cruise safety altitude.
  • the preset cruise safety altitude can be 40-120 meters.
  • the height of obstacles in the area can also be considered.
  • the flight path of the UAV can be a straight line or a preset arc of one or more radii. The specific value can be determined according to the equipment parameters of the UAV and so on.
  • This embodiment is a scenario where multiple drones initiate a landing, that is, multiple drones need to carry out a take-off and landing relay at the same target take-off and landing point.
  • you can first design the dispatch time interval of UAVs with reference to the time of the vertical take-off and landing channel plus the take-off and landing points.
  • the landing order of the drones can be sorted according to the arrival sequence or other factors. The first drone in the sequence can perform landing and re-take off.
  • the UAV's take-off and landing time interval is also different, and it increases as the cruise altitude increases.
  • the cruise altitude of UAV 1 and UAV 3 is 50 meters
  • the cruise altitude of UAV 2 is 30 meters
  • the general safe take-off and landing distance is 20 meters
  • the execution speed is 10 meters.
  • the ground operation time is 0.
  • the prepared takeoff and landing airspace can be divided into two layers, and the uppermost layer can correspond to the cruise altitude.
  • the UAV at this layer is mainly separated from the original route and enters the takeoff and landing path.
  • the bottom layer is for drones to wait to enter the vertical take-off and landing channel, that is, to complete the vertical take-off and landing section. It can be seen that the UAV needs to complete three stages before landing: two standby take-off and landing sections and one vertical take-off and landing section.
  • the vertical take-off and landing channel can be combined according to multiple airports, and each airport is restricted to allow only one UAV to take off and land at the same time.
  • the standby take-off and landing points of the uppermost layer can be distributed on a circle with a larger radius, and the standby take-off and landing points of the lowermost layer can be distributed on a circle with a smaller radius.
  • the radius of the lowermost circle can be three times the size of the drone (here refers to the maximum width obtained by the drone projection on the horizontal plane), and the radius of the uppermost circle can be the smallest. Double the radius of the lower circle.
  • Fig. 3 shows a schematic diagram of a take-off and landing path of multiple drones according to an embodiment of the present application.
  • the distance connecting the CD represents the safe take-off and landing distance of the UAV.
  • the distance between the line GC and the line CE represents the safe flight distance of the UAV.
  • the line from the standby take-off and landing point F to the standby take-off and landing point G is denoted as the line FG.
  • the UAV 2 can go to the standby take-off and landing point E to wait.
  • the waiting time (6 seconds) is 1 second faster. Because UAV 3 can wait in advance at the standby take-off and landing point E when UAV 2 is taking off and landing.
  • the multi-layer standby landing point is designed to allow multiple drones of different heights to wait in space without affecting each other when they arrive near the target landing point. Since the projections of the multi-layer take-off and landing points on the horizontal plane do not overlap each other, it is ensured that the drones will not fly directly above or directly below other drones.
  • FIGS. 4A and 4B respectively show a left view and a top view of the take-off and landing path of multiple drones according to an embodiment of the present application.
  • the upper standby takeoff and landing points 1 and 4, 2 and 5, and 3 and 6 correspond to the same cruise altitudes respectively
  • the lower standby takeoff and landing point 7 corresponds to the upper standby takeoff and landing.
  • Points 1, 2, 3, the lower standby takeoff and landing point 8 corresponds to the upper standby takeoff and landing points 4, 5, 6, point 9 is the upper end of the vertical takeoff and landing section, and point 10 is the lower end of the vertical takeoff and landing section.
  • Fig. 5 shows a schematic structural diagram of an unmanned aerial vehicle control device according to an embodiment of the present application.
  • the drone control device 500 includes a path planning unit 510 and a control unit 520.
  • the path planning unit 510 is configured to determine the take-off and landing path of the UAV in response to the take-off and landing request of the UAV.
  • the take-off and landing path includes multiple standby take-off and landing sections and a vertical take-off and landing section, and the standby take-off and landing section The projections of the two endpoints on the horizontal plane do not coincide.
  • the request for take-off and landing in this application can be either a take-off request or a landing request.
  • the take-off and landing path can be a take-off path or a landing path.
  • the solution in this application supports the scheduling of multiple drones, that is, within the same time period, multiple drones that wish to take off and land at the same target take-off and landing point can be scheduled; at the same time, it also supports the take-off and landing of a single drone control.
  • the target take-off and landing point here is generally a square or circular area, which usually includes the airport (landing pad) for the drone to take off and land, and it can also contain some necessary attachments or facilities, and it can also support no Short-distance taxiing and long-term parking of man and machine.
  • the obstacle restricted airspace can be an inverted cone, the vertex of the inverted cone can be the center of the target take-off and landing point, the cone angle can preferably be 60 degrees, and the plane of the cone bottom surface can be the minimum vertical determined according to each standby take-off and landing section. The horizontal plane corresponding to the height.
  • the control unit 520 makes the UAV complete the flight of the multiple standby take-off and landing sections and the vertical take-off and landing section in sequence to achieve take-off or landing, wherein the UAV is idle in one take-off and landing section. Under the circumstances, the flight of the take-off and landing segment is completed.
  • the projections of the two end points of the standby takeoff and landing section on the horizontal plane do not overlap, which means that the standby takeoff and landing section is inclined or horizontal, rather than vertical.
  • the design of the vertical take-off and landing section conforms to the movement rules of the UAV, ensuring the stability of the final landing.
  • the landing of multiple drones can only be achieved by increasing the time interval and the space interval.
  • the flying height of the drone is 100 meters
  • the vertical landing speed is 1 meter/second
  • only one drone is allowed to land at the same time, then one drone can be landed every 100 seconds.
  • multiple drones in a scenario where multiple drones are landing, multiple drones can be dispersed in the airspace above the landing point of the takeoff and target through multiple takeoff and landing paths that do not interfere with each other.
  • Multiple different prepared take-off and landing sections allow the UAV to perform a large height change, which greatly improves the take-off and landing efficiency and ensures safety.
  • a UAV takeoff and landing queue can be maintained and a scheduling algorithm can be used to determine the idle condition of each takeoff and landing path.
  • the device shown in Figure 5 through a vertical take-off and landing section combined with multiple standby take-off and landing sections, can not only achieve a stable landing of a single drone, but also reduce the number of drones in a multi-drone scenario. Interference between them improves safety and greatly improves the take-off and landing efficiency of multiple drones.
  • the standby take-off and landing section includes: at least one first standby take-off and landing section, and the two end points of the first standby take-off and landing section are respectively in two adjacent floors of the standby take-off and landing airspace.
  • each standby take-off and landing point in the lower floor corresponds to one or more standby take-off and landing points in the upper floor.
  • the height of each standby take-off and landing point is not less than the height of the upper end point of the vertical take-off and landing section.
  • the distance between the two end points of each first standby take-off and landing section and the distance between the two end points of the second standby take-off and landing section are not less than that of the drone. Safe flight distance.
  • the distance between the two end points of the first standby take-off and landing section is positively correlated with the safe flight speed of the UAV when passing the first standby take-off and landing section.
  • the height of the uppermost standby take-off and landing point used in the standby take-off and landing section is based on the cruise altitude supported by the first take-off and landing point and/ Or the cruise altitude supported by the second takeoff and landing point is determined.
  • the first take-off and landing point is the take-off and landing point used when the UAV takes off
  • the second take-off and landing point is the take-off and landing point used by the UAV for expected landing.
  • the cruise altitude supported by the first take-off and landing point and the second take-off and landing point are respectively based on the horizontal plane where the highest point on the ground is located in the area where the first take-off and landing point and the second take-off and landing point are located, And the preset cruise safety altitude is determined.
  • the embodiments of the present application can determine the take-off and landing path of the UAV in response to the take-off and landing request of the UAV.
  • the take-off and landing path includes a plurality of standby take-off and landing sections and a vertical take-off and landing section. Section, and the projections of the two end points of the standby take-off and landing section on the horizontal plane do not overlap; make the UAV complete the flight of the multiple standby take-off and landing sections and the vertical take-off and landing section in sequence to achieve take-off or landing , Wherein the UAV completes the flight of the take-off and landing section when one take-off and landing section is idle.
  • a vertical take-off and landing section combined with multiple standby take-off and landing sections can not only realize the smooth landing of a single drone, but also reduce the interference between drones in the scenario of multiple drones, which improves Safety, and greatly improved the take-off and landing efficiency of multiple drones.
  • modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
  • the various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the drone control device according to the embodiments of the present application.
  • This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
  • FIG. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • the electronic device 600 includes a processor 610 and a memory 620 configured to store computer-executable instructions (computer-readable program code).
  • the memory 620 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 620 has a storage space 630 for storing computer-readable program codes 631 for executing any method steps in the foregoing methods.
  • the storage space 630 for storing computer-readable program codes may include various computer-readable program codes 631 respectively used to implement various steps in the above method.
  • the computer-readable program code 631 may be read from or written into one or more computer program products.
  • FIG. 7 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application.
  • the computer-readable storage medium 700 stores a computer-readable program code 631 for executing the steps of the method according to the present application, which can be read by the processor 610 of the electronic device 600, when the computer-readable program code 631 is run by the electronic device 600 , Causing the electronic device 600 to execute each step in the method described above.
  • the computer readable program code 631 stored in the computer readable storage medium can execute the method shown in any of the above embodiments.
  • the computer readable program code 631 may be compressed in a suitable form.

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Abstract

一种无人机控制方法，包括：响应于无人机的起降请求，确定无人机的起降路径，其中起降路径包括多个备起降段和一个垂直起降段，且备起降段的两个端点在水平面上的投影不重合（S110）；使无人机依次完成多个备起降段和垂直起降段的飞行，以实现起飞或降落，其中，无人机在一个起降段空闲的情况下完成起降段的飞行（S120）。

Description

无人机控制 技术领域
本申请涉及无人机技术领域，具体涉及无人机控制。
背景技术
无人机在起降阶段容易发生碰撞，引发安全问题。多无人机起降通常采用下面的方式实现：多架无人机按次序前往目标降落点的正上方，然后依次进行降落。
发明内容
依据本申请的一个方面，提供了一种无人机控制方法，包括：响应于无人机的起降请求，确定所述无人机的起降路径，所述起降路径包括多个备起降段和一个垂直起降段，且所述备起降段的两个端点在水平面上的投影不重合；使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
可选地，上述方法中，所述备起降段包括：至少一个第一备起降段，所述第一备起降段的两个端点分别为备起降空域的相邻两层中具有对应关系的两个备起降点；第二备起降段，所述第二备起降段的一个端点为所述备起降空域的最下层中的备起降点，另一个端点为所述垂直起降段的上端点；在所述备起降空域的相邻的两层中，下层中的每个备起降点分别对应上层中的一个或多个备起降点。
可选地，上述方法中，各所述备起降点的高度均不小于所述垂直起降段的上端点的高度。
可选地，上述方法中，各所述第一备起降段的两个端点间的距离、以及所述第二备起降段的两个端点之间的距离均不小于所述无人机的安全飞行距离。
可选地，上述方法中，所述第一备起降段的两个端点间的距离与所述无人机通过所述第一备起降段时的安全飞行速度正相关。
可选地，上述方法中，当所述起降路径为起飞路径时，所述备起降段中使用的最上层的备起降点的高度根据第一起降点所支持的巡航高度和/或第二起降点所支持的巡航高度确定，所述第一起降点为所述无人机起飞时所使用的起降点，所述第二起降点为所 述无人机预期降落所使用的起降点。
可选地，上述方法中，所述第一起降点和所述第二起降点所支持的巡航高度分别根据所述第一起降点和所述第二起降点所在区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。
依据本申请的另一方面，提供了一种无人机控制装置，包括：路径规划单元，用于响应于无人机的起降请求，确定所述无人机的起降路径，所述起降路径包括多个备起降段和一个垂直起降段，且所述备起降段的两个端点在水平面上的投影不重合；控制单元，使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
可选地，上述装置中，所述备起降段包括：至少一个第一备起降段，所述第一备起降段的两个端点分别为备起降空域的相邻两层中具有对应关系的两个备起降点；第二备起降段，所述第二备起降段的一个端点为所述备起降空域的最下层中的备起降点，另一个端点为所述垂直起降段的上端点；在所述备起降空域的相邻的两层中，下层中的每个备起降点分别对应上层中的一个或多个备起降点。
可选地，上述装置中，各所述备起降点的高度均不小于所述垂直起降段的上端点的高度。
可选地，上述装置中，各所述第一备起降段的两个端点间的距离、以及所述第二备起降段的两个端点之间的距离均不小于所述无人机的安全飞行距离。
可选地，上述装置中，所述第一备起降段的两个端点间的距离与所述无人机通过所述第一备起降段时的安全飞行速度正相关。
可选地，上述装置中，当所述起降路径为起飞路径时，所述备起降段中使用的最上层的备起降点的高度根据第一起降点所支持的巡航高度和/或第二起降点所支持的巡航高度确定，所述第一起降点为所述无人机起飞时所使用的起降点，所述第二起降点为所述无人机预期降落所使用的起降点。
可选地，上述装置中，所述第一起降点和所述第二起降点所支持的巡航高度分别根据所述第一起降点和所述第二起降点所在区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。
依据本申请的又一方面，提供了一种电子设备，包括：处理器；以及被配置为存储计算机可执行指令的存储器，所述可执行指令在被所述处理器执行时使所述处理器执行 如上述任一所述的方法。
依据本申请的再一方面，提供了一种计算机可读存储介质，其中，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被处理器执行时，实现如上述任一所述的方法。
上述说明仅是本申请实施例的概述，为了能够更清楚地了解本申请的实施例，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了根据本申请一个实施例的一种无人机控制方法的流程示意图；
图2示出了根据本申请一个实施例的从第一起降点到第二起降点的航路示意图；
图3示出了根据本申请一个实施例的多无人机起降路径示意图；
图4A示出了根据本申请一个实施例的多无人机起降路径的左视图；
图4B示出了根据本申请一个实施例的多无人机起降路径的上视图；
图5示出了根据本申请一个实施例的一种无人机控制装置的结构示意图；
图6示出了根据本申请一个实施例的电子设备的结构示意图；
图7示出了根据本申请一个实施例的计算机可读存储介质的结构示意图。
具体实施方式
下面将参照附图更详细地描述本申请的示例性实施例。虽然附图中显示了本申请的示例性实施例，然而应当理解，可以以各种形式实现本申请而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本申请，并且能够将本申请的范围完整的传达给本领域的技术人员。
在传统的多无人机起降方法中，需要多架无人机严格按照时间先后顺序到达目标降落点上方，而由于无人机时间控制的不准确性，极易发生相撞。多个无人机实际通过一 个垂直通道进行排队降落，若有一个无人机发生坠落，会砸到下面的无人机，引发事故。并且这种方式的效率非常低，无人机数量越多，就越不能满足实际需求。
图1示出了根据本申请一个实施例的一种无人机控制方法的流程示意图。如图1所示，该方法包括步骤S110至步骤S120。
步骤S110，响应于无人机的起降请求，确定所述无人机的起降路径，起降路径包括多个备起降段和一个垂直起降段，且备起降段的两个端点在水平面上的投影不重合。
本申请中的起降请求可以是起飞请求，也可以是降落请求。同样地，起降路径可以是起飞路径，也可以是降落路径。
本申请的方案支持多无人机的调度，也就是同一时间段内，可以调度多架希望在同一目标起降点进行起降的无人机；同时，也支持单个无人机的起降控制。这里的目标起降点一般是方形或是圆形的一块区域，通常包括供无人机起飞、降落的机场(起降坪)，还可以包含一些必要的附属装置或是设施，也可以支持无人机短距离滑行和长时间停放等。
另外，为了保证无人机的起降安全，目标起降点周围可以设置障碍物限制空域，也就是说在障碍物限制空域内一般不能有任何影响无人机飞行的障碍物。障碍物限制空域可以是一个倒锥体，倒锥体的顶点可以是目标起降点的中心，锥角可以优选为60度，锥底面所在的平面可以是根据各备起降段确定的最小垂直高度对应的水平平面。本文中的空域指根据需要而划定的一定范围的空间。
步骤S120，使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
备起降段的两个端点在水平面上的投影不重合，也就意味着备起降段是倾斜或者是水平的，而非是垂直的，唯一的垂直起降段中仅有一个无人机通行时才是空闲的，这样也就避免了多无人机垂直排队的安全隐患。另外，垂直起降段的设计符合无人机的运动规则，保证了最终降落的稳定性。
现有的起降技术中，由于只有一个垂直起降通道，为了确保安全性，只能通过增大时间间隔和空间间隔来实现多架无人机的降落。例如，无人机的飞行高度为100米，垂直降落速度为1米/秒，同一时间仅允许一架无人机降落，那么每100秒才能降落一架无人机。而本申请的实施例，在多架无人机降落的场景下，可以通过互不干扰的多条起降路径，将多架无人机分散在目标起降点上方的空域中进行等候，通过多个不同的备起降 段来使无人机进行大幅度的高度变换，极大提升了起降效率，并且保证了安全性。
具体地可以通过维护一个无人机起降队列并通过调度算法来确定各个起降路径的空闲情况。
可见，图1所示的方法，通过一个垂直起降段结合多个备起降段，既能够实现单无人机平稳的降落，也能在多无人机的场景下减小无人机之间的干扰，提升了安全性，并且大幅提高了多无人机的起降效率。
在本申请的一个实施例中，备起降段包括：至少一个第一备起降段，第一备起降段的两个端点分别为备起降空域的相邻两层中具有对应关系的两个备起降点；第二备起降段，第二备起降段的一个端点为备起降空域的最下层中的备起降点，另一个端点为垂直起降段的上端点；在备起降空域的相邻的两层中，下层中的每个备起降点分别对应上层中的一个或多个备起降点。
可以认为备起降空域中的多层备起降点是树结构，但是这里的上下层是指空间上的高低关系。本申请的实施例中，将目标起降点附近的空域划分为备起降空域和一个垂直起降通道，垂直起降通道即对应于垂直起降段。备起降空域又分为多个层。这里的分层主要是依据高度来划分。无人机降落时，需要从上到下沿各层的备起降点降落到垂直起降通道。
例如，根据各无人机的降落请求，将各无人机分别导航至备起降空域中最上层的空闲备起降点。当目标无人机的下层备起降点变为空闲时，将目标无人机导航至该空闲的下层备起降点，直至目标无人机到达最下层的空闲备起降点。以及在垂直起降通道空闲时，使目标无人机通过垂直起降通道降落至目标起降点。
又例如，根据目标无人机的起飞请求，使目标无人机通过垂直起降通道，并将目标无人机导航至备起降空域中最下层的空闲备起降点。当存在空闲的上层备起降点时，将目标无人机导航至该空闲的上层备起降点，直至该目标无人机到达最上层的空闲备起降点。使目标无人机从最上层的空闲备起降点飞离备起降空域。
最下层的备起降点存在的意义在于，当存在多架无人机需要起降时，无人机需要依次起降，即多架无人机需要等待一架无人机完成到达、降落、准备、再起飞的流程，然后才能让第二架无人机降落。也就是说，我们希望上一架无人机完成其流程的时间尽可能的短，并且能够在再次起飞时自由的前往任意方向和高度。而当其完成流程后，下一架无人机能够尽快的进入垂直起降通道。因此，我们选择距离安全起降通道(垂直起降 通道)顶端最近的点作为最下层的备起降点。当一架无人机执行起飞降落操作时，一架或者数架无人机依次在几个备起降点等待，并且保证有一个备起降点没有无人机，方便当前无人机再次起飞执行任务。
在备起降空域的相邻的两层中，下层中的每个备起降点分别对应m个不同的上层备起降点(m为大于等于1的正整数)。每个次上层备起降点对应的最上层备起降点的数量可以等于此备起降点所支持的巡航高度的数量。这样，可以保证所有巡航高度的无人机都可以到达此备起降点，且无人机起飞时可以从此备起降点前往所有巡航高度。本文中的巡航高度指无人机完成起飞阶段进入预定航线后所保持的飞行高度。
在本申请的一个实施例中，各备起降点的高度均不小于垂直起降段的上端点的高度。这也就避免了降落阶段无人机在下降过程中还需要爬升的情况，避免了飞行路径的混乱。
在本申请的一个实施例中，各第一备起降段的两个端点间的距离、以及第二备起降段的两个端点之间的距离均不小于无人机的安全飞行距离。这里，无人机的安全飞行距离可以是根据无人机的设备参数、飞行任务、机动特性等确定的。如果起降点服务的无人机的安全飞行距离不同，则应当取最大值。
在本申请的一个实施例中，第一备起降段的两个端点间的距离与无人机通过该第一备起降段时的安全飞行速度正相关。
备起降段会与水平面成一个夹角，无人机在以不同的夹角倾斜飞行时，都可以确定一个安全飞行速度。同理，如果多个无人机有多个安全飞行速度，则可以取最大值，使得距离能够取得最大值，也就确保了安全性。
在本申请的一个实施例中，当起降路径为起飞路径时，备起降段中使用的最上层的备起降点的高度根据第一起降点所支持的巡航高度和/或第二起降点所支持的巡航高度确定。其中，第一起降点为无人机起飞时所使用的起降点，第二起降点为无人机预期降落所使用的起降点。
图2示出了根据本申请一个实施例的从第一起降点到第二起降点的航路示意图。可以认为无人机在从起降点A(第一起降点)到起降点B(第二起降点)的过程中，需要先从起降点A经过起飞路径到达A-B间航路，沿A-B间航路抵达起降点B的上空，再通过降落路径降落到起降点B。在一优选实施例中，巡航高度应首先取决于第一起降点所支持的巡航高度，其次才取决于第二起降点所支持的巡航高度。如果二者所支持的巡 航高度相同，则优先选择。如果有多种巡航高度可选择，则优先选择最低的巡航高度或者因其他因素最优的巡航高度。
在本申请的实施例中，高度的基准可以是标准大气压海拔高度。
在本申请的一个实施例中，第一起降点和第二起降点所支持的巡航高度分别根据第一起降点和第二起降点所在区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。
如果结合无人机的航线来考虑，起降点所支持的巡航高度则可以是根据航线所经过的区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。预设的巡航安全高度可以为40-120米，除此之外还可以考虑区域(例如起降点所在区域或航线所经过的区域)内障碍物的高度。无人机的航线可以是直线段或是预设的一种或多种半径的圆弧，具体数值可以根据无人机的设备参数等等决定。
除了考虑地面最高点所在的水平面，也可以考虑地面最低点所在的水平面，当然，在安全性考量时应当更多地考虑地面最高点所在的水平面。
下面结合一个具体实施例进行说明。该实施例是一个多架无人机并发起降的场景，即多架无人机需要在同一目标起降点进行起降接力。进行航线规划时，可首先参考垂直起降通道加备起降点的时间对无人机的派发时间间隔进行设计。当多无人机到达该目标起降点时，可按照到来先后或其他因素对无人机的降落顺序进行排序。排序第一架的无人机可以执行降落和再起飞。
传统的起降系统中，根据巡航高度的不同，无人机的起降时间间隔也不同，并随着巡航高度的升高而增加。在下面这个示例中，假设无人机1和无人机3的巡航高度为50米，无人机2的巡航高度为30米，而一般的安全起降距离为20米，执行速度为10米/秒，地面操作时间为0。
此时，若我们从某些地方向该目标起降点按照无人机1、无人机2、无人机3的顺序派来三架无人机。那么，当无人机1到达并需执行下一个同巡航高度的任务时，其需要花费：降落时间(50/10＝5秒)+地面操作时间(0秒)+重新起飞时间(50/10＝5秒)＝10秒钟。这也就意味着无人机2至少需要等待10秒钟才可以到达该目标起降点，否则就会与无人机1出现在同一垂直起降通道，增加风险。而无人机2需要花费(30/10*2)＝6秒才能离开，也就延误了无人机3的时间。而假设我们的无人机如此循环往复，无人机3将再次耽搁无人机4总共10秒的时间(假设无人机4从无人机1的地方进入)。
在本申请的实施例中，备起降空域可以分为两层，最上层可以对应于巡航高度，无人机在这一层主要是从原航路分离，进入起降路径。最下层则是无人机用来等待进入垂直起降通道，也就是完成垂直起降段。可以看出，无人机需要完成三段才能降落：两个备起降段，一个垂直起降段。通常来说，一个起降点只有一个机场；如果有多个机场，那么垂直起降通道就可以根据多个机场求并集，并限制每个机场同时仅允许一架无人机起降。
最上层的备起降点可以分布在一个半径较大的圆上，最下层的备起降点可以分布在一个半径较小的圆上。在一个优选方案中，最下层的圆的半径可以是无人机大小(这里指的是无人机在水平面投影求得的宽度最大值)的三倍，而最上层的圆的半径可以是最下层的圆的半径的两倍。
回到刚才的例子，结合图3进行说明。图3示出了根据本申请一个实施例的多无人机起降路径示意图。
如图3所示，连线CD的距离代表无人机的安全起降距离，假设CD为20米，即CD＝20。连线GC和连线CE的距离代表无人机的安全飞行距离，假设GC和CE为5米，即GC＝5、CE＝5。备起降点F到备起降点G的连线表示为连线FG。当无人机1到达备起降点F时，它首先需要花费一段时间降落，降落路线为FG→GC→CD。我们假设连线FG与CD成30度，已知无人机1的巡航高度为50米，即D到过起降点F的水平线的垂直距离为50米，则根据相似三角形及直角三角形的性质计算得到：FG＝(50-20)/sqrt(3)*2＝35米。无人机1的降落时间为：(FG+GC+CD)/10＝(35+5+20)/10＝6秒。
当无人机1降落之后，起飞路径为DC→CG，起飞时间为(5+20)/10＝2.5秒，无人机2无需等待无人机1飞回到备起降点F，所以，无人机2需要等待无人机1的总时间为(6+2.5)＝8.5秒，比传统的起降方法中需要等待的时间(10秒)快了1.5秒。下面我们开始考虑无人机2的情况。在无人机1执行起飞和降落操作时，无人机2可以前往备起降点E进行等候。所以，无人机3等待无人机2的时间为：降落时间((CE+CD)/10)+起飞时间((DC+CE)/10＝5秒钟，比传统的起降方法中需要等待的时间(6秒)快了1秒。因为无人机3在无人机2执行起飞降落的时候可以提前到备起降点E进行等候，无人机4等待无人机3的时间为：降落时间(CE+CD)/10)+起飞时间(DC+CE)/10＝5秒钟。这比传统的起降方法中需要等待的时间(10秒)快了5秒。
可以看出，通过设置靠近垂直起降通道的备起降点，我们可以在大量无人机排序降 落时将无人机的等待时间降低，尤其是当巡航高度与安全起降高度的差值较大时，能够节省约为(巡航高度/安全起降高度)倍数的时间。例如，若巡航高度为100米，安全起降高度为20米，传统方法需要等待(2*100/起降速度)的时间，而本申请仅需等待约(2*20/起降速度)的时间。而多层备起降点的设计则是为了让多架不同高度的无人机到达目标降落点附近时能够互相不影响的在空间中等待。由于多层起降点在水平面的投影互不重合，保证了各无人机不会飞到其他无人机的正上方或是正下方。
图4A和图4B分别示出了根据本申请一个实施例中多无人机起降路径的左视图和上视图。在该实施例中，可以有两层备起降点，上层备起降点1和4、2和5、以及3和6对应的巡航高度分别一致，下层备起降点7对应上层备起降点1、2、3，下层备起降点8对应上层备起降点4、5、6，点9为垂直起降段的上端点，点10为垂直起降段的下端点。以无人机A的起降路径进行说明，其中1-7为备起降段一，7-9为备起降段二，9-10为垂直起降段。
图5示出了根据本申请一个实施例的一种无人机控制装置的结构示意图。如图5所示，无人机控制装置500包括路径规划单元510和控制单元520。
路径规划单元510，用于响应于无人机的起降请求，确定所述无人机的起降路径，起降路径包括多个备起降段和一个垂直起降段，且备起降段的两个端点在水平面上的投影不重合。
本申请中的起降请求可以是起飞请求，也可以是降落请求。同样地，起降路径可以是起飞路径，也可以是降落路径。
本申请的方案支持多无人机的调度，也就是同一时间段内，可以调度多架希望在同一起目标起降点进行起降的无人机；同时，也支持单个无人机的起降控制。这里的目标起降点一般是方形或是圆形的一块区域，通常包括供无人机起飞、降落的机场(起降坪)，还可以包含一些必要的附属装置或是设施，也可以支持无人机短距离滑行和长时间停放等。
另外，为了保证无人机的起降安全，目标起降点周围可以设置障碍物限制空域，也就是说在障碍物限制空域内一般不能有任何影响无人机飞行的障碍物。障碍物限制空域可以是一个倒锥体，倒锥体的顶点可以是目标起降点的中心，锥角可以优选为60度，锥底面所在的平面可以是根据各备起降段确定的最小垂直高度对应的水平平面。
控制单元520，使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行， 以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
备起降段的两个端点在水平面上的投影不重合，也就意味着备起降段是倾斜或者是水平的，而非是垂直的，唯一的垂直起降段中仅有一个无人机通行时才是空闲的，这样也就避免了多无人机垂直排队的安全隐患。另外，垂直起降段的设计符合无人机的运动规则，保证了最终降落的稳定性。
现有的起降技术中，由于只有一个垂直起降通道，为了确保安全性，只能通过增大时间间隔和空间间隔来实现多架无人机的降落。例如，无人机的飞行高度为100米，垂直降落速度为1米/秒，同一时间仅允许一架无人机降落，那么每100秒才能降落一架无人机。而本申请的实施例，在多架无人机降落的场景下，可以通过互不干扰的多条起降路径，将多架无人机分散在起目标降点上方的空域中进行等候，通过多个不同的备起降段来使无人机进行大幅度的高度变换，极大提升了起降效率，并且保证了安全性。
具体地可以通过维护一个无人机起降队列并通过调度算法来确定各个起降路径的空闲情况。
可见，图5所示的装置，通过一个垂直起降段结合多个备起降段，既能够实现单无人机平稳的降落，也能在多无人机的场景下减小无人机之间的干扰，提升了安全性，并且大幅提高了多无人机的起降效率。
在本申请的一个实施例中，上述装置中，备起降段包括：至少一个第一备起降段，第一备起降段的两个端点分别为备起降空域的相邻两层中具有对应关系的两个备起降点；第二备起降段，第二备起降段的一个端点为备起降空域的最下层中的备起降点，另一个端点为垂直起降段的上端点；在备起降空域的相邻的两层中，下层中的每个备起降点分别对应上层中的一个或多个备起降点。
在本申请的一个实施例中，上述装置中，各备起降点的高度均不小于垂直起降段的上端点的高度。
在本申请的一个实施例中，上述装置中，各第一备起降段的两个端点间的距离、以及第二备起降段的两个端点之间的距离均不小于无人机的安全飞行距离。
在本申请的一个实施例中，上述装置中，第一备起降段的两个端点间的距离与无人机通过该第一备起降段时的安全飞行速度正相关。
在本申请的一个实施例中，上述装置中，当起降路径为起飞路径时，备起降段中使 用的最上层的备起降点的高度根据第一起降点所支持的巡航高度和/或第二起降点所支持的巡航高度确定。其中，第一起降点为无人机起飞时所使用的起降点，第二起降点为无人机预期降落所使用的起降点。
在本申请的一个实施例中，上述装置中，第一起降点和第二起降点所支持的巡航高度分别根据第一起降点和第二起降点所在区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。
需要说明的是，上述各装置实施例的具体实施方式可以参照前述对应方法实施例的具体实施方式进行，在此不再赘述。
综上所述，本申请的实施例，能够响应于无人机的起降请求，确定所述无人机的起降路径，所述起降路径包括多个备起降段和一个垂直起降段，且备起降段的两个端点在水平面上的投影不重合；使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。该实施例通过一个垂直起降段结合多个备起降段，既能够实现单无人机平稳的降落，也能在多无人机的场景下减小无人机之间的干扰，提升了安全性，并且大幅提高了多无人机的起降效率。
需要说明的是：本文提供的算法和显示不与任何特定计算机、虚拟装置或者其它设备固有相关。各种通用装置也可以与基于本文的示教一起使用。根据上面的描述，构造这类装置所要求的结构是显而易见的。此外，本申请也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现本文描述的本申请的内容，并且上面对特定语言所做的描述是为了披露本申请的最佳实施方式。
在本文所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个实施方式，在上面对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身 都作为本申请的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的无人机的控制装置中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图6示出了根据本申请一个实施例的电子设备的结构示意图。电子设备600包括处理器610和被配置为存储计算机可执行指令(计算机可读程序代码)的存储器620。存储器620可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器620具有存储用于执行上述方法中的任何方法步骤的计算机可读程序代码631的存储空间630。例如，用于存储计算机可读程序代码的存储空间630可以包括分别用于实现上面的方法中的各种步骤的各个计算机可读程序代码631。计算机可读程序代码631可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘、紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为例如图7 所述的计算机可读存储介质。图7示出了根据本申请一个实施例的一种计算机可读存储介质的结构示意图。计算机可读存储介质700存储有用于执行根据本申请的方法步骤的计算机可读程序代码631，其可以被电子设备600的处理器610读取，当计算机可读程序代码631由电子设备600运行时，导致该电子设备600执行上面所描述的方法中的各个步骤，具体来说，该计算机可读存储介质存储的计算机可读程序代码631可以执行上述任一实施例中示出的方法。计算机可读程序代码631可以以适当形式进行压缩。
应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (10)

  1. 一种无人机控制方法，包括：
    响应于无人机的起降请求，确定所述无人机的起降路径，所述起降路径包括多个备起降段和一个垂直起降段，且所述备起降段的两个端点在水平面上的投影不重合；
    使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
  2. 如权利要求1所述的方法，其中，所述备起降段包括：
    至少一个第一备起降段，所述第一备起降段的两个端点分别为备起降空域的相邻两层中具有对应关系的两个备起降点；
    第二备起降段，所述第二备起降段的一个端点为所述备起降空域的最下层中的备起降点，另一个端点为所述垂直起降段的上端点；
    在所述备起降空域的相邻的两层中，下层中的每个备起降点分别对应上层中的一个或多个备起降点。
  3. 如权利要求2所述的方法，其中，各所述备起降点的高度均不小于所述垂直起降段的上端点的高度。
  4. 如权利要求2所述的方法，其中，各所述第一备起降段的两个端点间的距离、以及所述第二备起降段的两个端点之间的距离均不小于所述无人机的安全飞行距离。
  5. 如权利要求2所述的方法，其中，所述第一备起降段的两个端点间的距离与所述无人机通过所述第一备起降段时的安全飞行速度正相关。
  6. 如权利要求2所述的方法，其中，
    当所述起降路径为起飞路径时，所述备起降段中使用的最上层的备起降点的高度根据第一起降点所支持的巡航高度和/或第二起降点所支持的巡航高度确定，
    所述第一起降点为所述无人机起飞时所使用的起降点，所述第二起降点为所述无人机预期降落所使用的起降点。
  7. 如权利要求6所述的方法，其中，所述第一起降点和所述第二起降点所支持的巡航高度分别根据所述第一起降点和所述第二起降点所在区域中地面最高点所在的水平面，以及预设的巡航安全高度确定。
  8. 一种无人机控制装置，包括：
    路径规划单元，用于响应于无人机的起降请求，确定所述无人机的起降路径，所述起降路径包括多个备起降段和一个垂直起降段，且所述备起降段的两个端点在水平面上的投影不重合；
    控制单元，用于使所述无人机依次完成所述多个备起降段和所述垂直起降段的飞行，以实现起飞或降落，其中，所述无人机在一个起降段空闲的情况下完成所述起降段的飞行。
  9. 一种电子设备，包括：
    处理器；以及
    被配置为存储计算机可执行指令的存储器，所述可执行指令在被所述处理器执行时使所述处理器执行如权利要求1-7中任一项所述的方法。
  10. 一种计算机可读存储介质，其中，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被处理器执行时，实现如权利要求1-7中任一项所述的方法。
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