WO2022021214A1

WO2022021214A1 - Method and apparatus for controlling unmanned aerial vehicle, and unmanned aerial vehicle and storage medium

Info

Publication number: WO2022021214A1
Application number: PCT/CN2020/105809
Authority: WO
Inventors: 耿畅; 陈萍萍
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2022-02-03
Also published as: CN113853561A

Abstract

A method and apparatus for controlling an unmanned aerial vehicle, and an unmanned aerial vehicle and a storage medium. The method comprises: acquiring sensing data output by a sensor of an unmanned aerial vehicle, and according to the sensing data, determining whether the complexity of the ambient environment of the unmanned aerial vehicle is greater than a preset complexity threshold (S101); detecting whether an obstacle avoidance function of the unmanned aerial vehicle is in a disabled state (S102); and when the obstacle avoidance function is in the disabled state and the complexity of the ambient environment of the unmanned aerial vehicle is greater than the preset complexity threshold, enabling the obstacle avoidance function of the unmanned aerial vehicle (S103), thus the safety of the unmanned aerial vehicle can be effectively improved.

Description

Control method, device, unmanned aerial vehicle and storage medium of unmanned aerial vehicle

technical field

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

Background technique

When the obstacle avoidance function of the unmanned aerial vehicle is turned on, the unmanned aerial vehicle can automatically implement obstacle avoidance when encountering an obstacle. However, if the user has turned off the obstacle avoidance function of the UAV and the UAV encounters an obstacle, if the user forgets to enable the obstacle avoidance function of the UAV, the UAV may directly hit the obstacle and cannot Ensure the safety of unmanned aerial vehicles.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a control method, device, unmanned aerial vehicle, and storage medium for an unmanned aerial vehicle, which can effectively improve the safety of the unmanned aerial vehicle.

A first aspect of the embodiments of the present application provides a method for controlling an unmanned aerial vehicle, the method comprising:

acquiring sensing data output by sensors of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data;

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is disabled and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the obstacle avoidance function of the unmanned aerial vehicle is enabled.

A second aspect of the embodiments of the present application provides a method for controlling an unmanned aerial vehicle, the method comprising:

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the maximum flying speed of the unmanned aerial vehicle is reduced.

A third aspect of the embodiments of the present application provides a control device for an unmanned aerial vehicle, including a memory and a processor, wherein,

the memory for storing program codes;

The processor calls the program code in the memory, and when the program code is executed, is used to perform the following operations:

Detecting whether the obstacle avoidance function of the UAV is turned off;

A fourth aspect of the embodiments of the present application provides a control device for an unmanned aerial vehicle, including a memory and a processor, wherein,

the memory for storing program codes;

Detecting whether the obstacle avoidance function of the UAV is turned off;

A fifth aspect of the embodiments of the present application provides a movable platform, and the movable platform includes:

body;

a power system, mounted on the fuselage, for powering the movable platform;

a sensor, mounted on the fuselage, for outputting sensing data;

and the control device of the unmanned aerial vehicle according to the third aspect.

A sixth aspect of the embodiments of the present application provides a movable platform, and the movable platform includes:

body;

a power system, mounted on the fuselage, for powering the movable platform;

a sensor, mounted on the fuselage, for outputting sensing data;

and the control device of the unmanned aerial vehicle according to the fourth aspect.

A seventh aspect of an embodiment of the present application provides a computer storage medium, where a computer program instruction a is stored in the computer storage medium, and when the computer program instruction is executed by a processor, is used to execute the non-automatic method described in the first aspect. Control method of human aircraft.

An eighth aspect of the embodiments of the present application provides a computer storage medium, where computer program instructions are stored in the computer storage medium, and when the computer program instructions are executed by a processor, are used to execute the unmanned aerial vehicle described in the second aspect. The control method of the aircraft.

In the embodiment of the present application, the unmanned aerial vehicle can automatically enable the obstacle avoidance of the unmanned aerial vehicle when the obstacle avoidance function of the unmanned aerial vehicle is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold function, so that the unmanned aerial vehicle can automatically implement obstacle avoidance, which can effectively improve the safety of the unmanned aerial vehicle. Alternatively, the UAV can automatically reduce the maximum flight speed of the UAV when the obstacle avoidance function of the UAV is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold. The human aircraft flies at the reduced maximum flight speed, which can also minimize the impact force generated by the collision between the unmanned aircraft and the obstacle, which can effectively improve the safety of the unmanned aircraft.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present application;

2 is a schematic flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present application;

3 is a schematic flowchart of another method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

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

FIG. 5 is a schematic structural diagram of an unmanned aerial system according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Unless otherwise defined, 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 terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

The control method for an unmanned aerial vehicle provided by the embodiments of the present application can be applied to an unmanned aerial vehicle. The unmanned aerial vehicle may include a sensor, and the sensor may specifically include one or more of a satellite positioning device, a visual sensor, a light sensor, or a timing sensor. The unmanned aerial vehicle can determine whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold through the sensing data output by the above-mentioned sensors.

In one embodiment, when the unmanned aerial vehicle has an obstacle avoidance function, the unmanned aerial vehicle can obtain the sensing data output by the sensors of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than the expected level according to the sensing data. Set the complexity threshold, the UAV can also detect whether the obstacle avoidance function of the UAV is turned off. When the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold , the UAV can enable the obstacle avoidance function of the UAV. In this embodiment, when the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, and the user forgets to enable the obstacle avoidance function of the unmanned aerial vehicle, the obstacle avoidance function of the unmanned aerial vehicle can be automatically turned on, so that the unmanned aerial vehicle can Implement obstacle avoidance when encountering obstacles. For example, UAVs can use the obstacle avoidance function to pass through obstacles or detour, which can avoid collisions between UAVs and obstacles, so as to improve the safety of obstacles without affecting the flight mission of UAVs. For another example, the UAV can use the obstacle avoidance function to reduce the maximum flight speed of the UAV. Assuming that the UAV flies at the reduced maximum flight speed, even if the UAV collides with a pedestrian, it is possible to minimize the risk of the UAV and the pedestrian. The impact force generated by pedestrian collisions to ensure the safety of UAVs and pedestrians, while not affecting the flight mission of UAVs.

In one embodiment, when the unmanned aerial vehicle has an obstacle avoidance function, the unmanned aerial vehicle can obtain the sensing data output by the sensors of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than the expected level according to the sensing data. Set the complexity threshold, the UAV can also detect whether the obstacle avoidance function of the UAV is turned off. When the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold , the UAV can reduce the maximum flight speed of the UAV. In this embodiment, if the user turns off the obstacle avoidance function of the unmanned aerial vehicle, in the current environment, the user does not forget to turn on the obstacle avoidance function of the unmanned aerial vehicle, but does not want to turn on the obstacle avoidance function of the unmanned aerial vehicle, then there is no Forcibly turning on the obstacle avoidance function of the UAV will reduce the user experience. Based on this, when the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold, the UAV can reduce the maximum flight speed of the UAV, and minimize the number of UAVs and obstacles. The impact force generated by the collision of objects can effectively improve the safety of the unmanned aerial vehicle without affecting the flight mission of the unmanned aerial vehicle. Assuming that the UAV flies at the reduced maximum flight speed, even if the UAV and the pedestrian collide, the impact force generated by the collision between the UAV and the pedestrian can be minimized to ensure the safety of the UAV and the pedestrian.

In one embodiment, when the unmanned aerial vehicle does not have the obstacle avoidance function, the unmanned aerial vehicle can obtain the sensing data output by the sensor of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle according to the sensing data. The preset complexity threshold. When the complexity of the environment around the UAV is higher than the preset complexity threshold, the UAV can reduce the maximum flight speed of the UAV and minimize the collision between the UAV and obstacles. The resulting impact can effectively improve the safety of the unmanned aerial vehicle without affecting the flight mission of the unmanned aerial vehicle. Assuming that the UAV flies at the reduced maximum flight speed, even if the UAV and the pedestrian collide, the impact force generated by the collision between the UAV and the pedestrian can be minimized to ensure the safety of the UAV and the pedestrian.

Please refer to FIG. 1 , which is a schematic flowchart of a control method for an unmanned aerial vehicle proposed by an embodiment of the present application. As shown in FIG. 1 , the method may include:

S101: Acquire sensing data output by a sensor of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data.

In one embodiment, if the obstacle avoidance function of the UAV is to implement obstacle avoidance for the UAV based on distances measured by other types of sensors than the visual sensor, the UAV determines the UAV based on the sensing data Whether the complexity of the surrounding environment is higher than the preset complexity threshold may be as follows: detecting the dimness of the environment around the unmanned aerial vehicle, determining whether the detected dimness is higher than the preset dimness threshold, If the light dim level is higher than the preset light dim level threshold, the UAV can determine that the complexity of the environment around the UAV is higher than the preset complexity level threshold; if the light dim level is lower than or equal to the preset light level If the darkness threshold is set, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is lower than or equal to the preset complexity threshold.

Exemplarily, other types of sensors other than visual sensors may include time of flight (TOF) ranging devices, radar sensors or ultrasonic sensors, and the like. Since other types of sensors other than vision sensors do not need to rely on the level of light when measuring distance, UAVs can measure obstacles with other types of sensors than vision sensors, even if the UAV is in a dimly lit environment The distance between the UAV and the UAV, and then implement obstacle avoidance based on this distance. Based on this, in the case that the obstacle avoidance function of the UAV is to implement obstacle avoidance for the UAV according to the distance measured by other types of sensors different from the visual sensor, the UAV can detect the environment around the UAV. Dim level of light, to determine whether the detected light dim level is higher than the preset light dim level threshold, if the light dim level is higher than the preset light dim level threshold, the UAV can determine the complexity of the environment around the UAV If the level is higher than the preset complexity threshold, the UAV can also detect whether the obstacle avoidance function of the UAV is turned off. When the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset level When the complexity threshold is reached, the UAV can turn on the obstacle avoidance function of the UAV, that is, implement obstacle avoidance for the UAV according to the distance measured by other types of sensors different from the visual sensor. If the dimness of the light is lower than or equal to the preset dimness threshold, the UAV can determine that the complexity of the environment around the UAV is lower than or equal to the preset complexity threshold, and the UAV can pass the preset threshold. After the time period, the dimness of the environment around the UAV is detected again.

In one embodiment, if the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by the visual sensor, then when the obstacle avoidance function is turned off and the environment around the unmanned aerial vehicle is dimly lit The UAV can reduce the maximum flight speed of the UAV when it is higher than the preset dim level threshold.

In this embodiment, since the visual sensor needs to depend on the brightness of the light, when the UAV is in a dimly lit environment, the UAV cannot measure the distance between the obstacle and the UAV through the visual sensor. Based on this, when the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by the visual sensor, the unmanned aerial vehicle can detect the dimness of the environment around the unmanned aerial vehicle, and determine the detected Whether the light dim level of the UAV is higher than the preset light dim level threshold, if the light dim level is higher than the preset light dim level threshold, the UAV can determine that the complexity of the environment around the UAV is higher than the preset complexity The level threshold, the UAV can also detect whether the obstacle avoidance function of the UAV is turned off. When the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold The aircraft can reduce the maximum flight speed of the UAV to improve the safety of the UAV.

Among them, the unmanned aerial vehicle can detect the dimness of the environment around the unmanned aerial vehicle in the following two ways: 1. The unmanned aerial vehicle can detect the dimness of the light of the environment around the unmanned aerial vehicle through the light sensor; 2. The unmanned aerial vehicle The correspondence between the time interval and the degree of dim light is pre-stored. For example, [0:00, 4:00] corresponds to the first degree of dimness, [4:00, 7:00] corresponds to the second degree of dimness, and [7:00 , 10:00] corresponds to a third degree of dimness of light, wherein the degree of dimness of the first light is higher than that of the second dimness of light, and the degree of dimness of the second light is higher than that of the third dimness of light. The UAV can obtain the current system time, determine the time interval to which the current system time belongs, and then the UAV can obtain the light dimness corresponding to the time interval to which the current system time belongs according to the pre-stored correspondence between the time interval and the light darkness, and then The light dim level corresponding to the time interval to which the current system time belongs is taken as the light dim level of the environment around the UAV.

S102, it is detected whether the obstacle avoidance function of the unmanned aerial vehicle is in a closed state.

For example, the user can control the UAV to turn on or off the obstacle avoidance function of the UAV by clicking a virtual button or a physical button of the UAV, or by sending voice information to the UAV. The UAV can detect whether the obstacle avoidance function of the UAV is turned off at the current system time.

In this embodiment of the present application, the execution order of S101 and S102 is not limited. For example, the UAV can simultaneously acquire the sensor data output by the sensors of the UAV, and detect whether the obstacle avoidance function of the UAV is turned off. For another example, the unmanned aerial vehicle can first obtain the sensor data output by the sensor of the unmanned aerial vehicle, and then detect whether the obstacle avoidance function of the unmanned aerial vehicle is in a disabled state. For another example, the unmanned aerial vehicle can first detect whether the obstacle avoidance function of the unmanned aerial vehicle is turned off, and then obtain the sensor data output by the sensors of the unmanned aerial vehicle.

In one embodiment, the unmanned aerial vehicle may acquire sensing data output by sensors of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data. When the complexity of the surrounding environment is higher than the preset complexity threshold, the UAV further detects whether the obstacle avoidance function of the UAV is turned off. When the obstacle avoidance function of the UAV is turned off, the UAV is turned on. obstacle avoidance function. When the complexity of the environment around the unmanned aerial vehicle is lower than or equal to the preset complexity threshold, there are few factors that cause the unmanned aerial vehicle to be uncontrollable, and the safety of the unmanned aerial vehicle can be guaranteed. When the complexity of the environment around the UAV is lower than or equal to the preset complexity threshold, this process can be ended without further checking whether the obstacle avoidance function of the UAV is turned off, which can reduce system resources.

In one embodiment, the unmanned aerial vehicle can detect whether the obstacle avoidance function of the unmanned aerial vehicle is turned off, and when the obstacle avoidance function of the unmanned aerial vehicle is turned off, the unmanned aerial vehicle can obtain the sensor output of the unmanned aerial vehicle. Data, according to the sensor data to determine whether the complexity of the environment around the UAV is higher than the preset complexity threshold, when the complexity of the environment around the UAV is higher than the preset complexity threshold, the UAV is turned on Obstacle avoidance for unmanned aerial vehicles. When the obstacle avoidance function of the UAV is turned on, no matter what environment the UAV is in, the UAV can implement the obstacle avoidance function through the obstacle avoidance function. Based on this, the UAV detects the obstacle avoidance of the UAV. When the function is turned on, this process can be ended without further acquiring the sensor data output by the sensors of the UAV. According to the sensor data, it is determined whether the complexity of the environment around the UAV is higher than the preset complexity threshold. System resources can be reduced.

S103, when the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold, enable the obstacle avoidance function of the unmanned aerial vehicle.

The UAV will turn on the obstacle avoidance function of the UAV only when the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold. When the obstacle avoidance function of the UAV is turned on, or the complexity of the environment around the UAV is lower than or equal to the preset complexity threshold, the UAV will not perform the operation of enabling the obstacle avoidance function of the UAV .

In one embodiment, after enabling the obstacle avoidance function of the unmanned aerial vehicle, the unmanned aerial vehicle can send a prompt message that the obstacle avoidance function has been enabled to the control terminal of the unmanned aerial vehicle, so that the control terminal or the user using the control terminal can know that there is no one The aircraft automatically turns on the obstacle avoidance function.

In one embodiment, after the UAV turns on the obstacle avoidance function of the UAV, the UAV can determine whether the complexity of the environment around the UAV is lower than a preset complexity threshold according to the sensor data. When the complexity of the environment around the UAV is lower than the preset complexity threshold, the obstacle avoidance function of the UAV is turned off.

In this embodiment, the unmanned aerial vehicle may periodically acquire sensing data output by the sensors of the unmanned aerial vehicle. After the unmanned aerial vehicle turns on the obstacle avoidance function, the unmanned aerial vehicle obtains the sensing data output by the sensor of the unmanned aerial vehicle in the most recent cycle, and can determine whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset level according to the sensing data When the complexity of the environment around the UAV is lower than the preset complexity threshold, there are fewer factors that cause the UAV to be uncontrollable, so the safety of the UAV can be guaranteed. Based on this, no The human aircraft can turn off the obstacle avoidance function of the unmanned aircraft. Or, the user's original intention is to continuously turn off the obstacle avoidance function of the UAV, but when the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold, in order to effectively improve the unmanned aerial vehicle. For the safety of the aircraft, the UAV automatically turns on the obstacle avoidance function. Then, when the complexity of the environment around the UAV is lower than the preset complexity threshold, the safety of the UAV can be guaranteed. In order to improve the user experience , the UAV can automatically turn off the obstacle avoidance function when the complexity of the environment around the UAV is lower than the preset complexity threshold.

In the embodiment of the present application, when the obstacle avoidance function of the unmanned aerial vehicle is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the obstacle avoidance function of the unmanned aerial vehicle can be automatically turned on. Effectively improve the safety of unmanned aerial vehicles.

Please refer to FIG. 2 , which is a schematic flowchart of another method for controlling an unmanned aerial vehicle proposed by an embodiment of the present application. As shown in FIG. 2 , the method may include:

S201: Acquire sensing data output by sensors of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data.

S202, it is detected whether the obstacle avoidance function of the unmanned aerial vehicle is turned off.

For step S202 in this embodiment of the present application, reference may be made to the specific description of step S102 in the foregoing embodiment, which is not repeated in this embodiment of the present application.

S203 , when the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold, reduce the maximum flight speed of the unmanned aerial vehicle.

The UAV will only reduce the maximum flight speed of the UAV when the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold. When the obstacle avoidance function of the UAV is turned on, or the complexity of the environment around the UAV is lower than or equal to the preset complexity threshold, the UAV will not perform the operation of reducing the maximum flight speed of the UAV .

In one embodiment, after reducing the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can determine whether the complexity of the environment around the unmanned aerial vehicle is lower than a preset complexity threshold according to the sensor data. When the complexity of the environment is lower than the preset complexity threshold, restore the maximum flight speed of the UAV.

In this embodiment, the unmanned aerial vehicle may periodically acquire sensing data output by the sensors of the unmanned aerial vehicle. After the unmanned aerial vehicle reduces the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle acquires the sensor data output by the sensor of the unmanned aerial vehicle in the most recent period, and can determine whether the complexity of the environment around the unmanned aerial vehicle is complicated according to the sensing data. Below the preset complexity threshold, when the complexity of the environment around the UAV is lower than the preset complexity threshold, there are fewer factors that cause the UAV to be uncontrollable, so the safety of the UAV can be guaranteed. Based on this, the UAV can recover the maximum flight speed of the UAV. Or, the user does not want to continuously reduce the maximum flight speed of the UAV, but when the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold, in order to effectively improve the UAV The UAV automatically reduces the maximum flight speed of the UAV. Then, when the complexity of the environment around the UAV is lower than the preset complexity threshold, the safety of the UAV can be guaranteed. In order to improve For user experience, the unmanned aerial vehicle can restore the maximum flight speed of the unmanned aerial vehicle when the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold.

In this embodiment, the maximum flight speed of the unmanned aerial vehicle is reduced, that is, the upper limit of the flying speed of the unmanned aerial vehicle is lowered. For example, if the maximum flight speed of the UAV is 16m/s, the UAV can fly at a speed lower than or equal to 16m/s before reducing the maximum flight speed of the UAV. If the obstacle avoidance function is turned off and the complexity of the environment around the UAV is higher than the preset complexity threshold, the UAV reduces the maximum flight speed of the UAV to 5m/s, then the UAV only Able to fly at speeds less than or equal to 5m/s.

Wherein, the maximum flight speed may include one or more of the maximum ascent speed, the maximum descent speed, and the maximum horizontal flight speed.

In the embodiment of the present application, when the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, by reducing the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can be effectively improved security.

Please refer to FIG. 3 , which is a schematic flowchart of another method for controlling an unmanned aerial vehicle proposed by an embodiment of the present application. As shown in FIG. 3 , the method may include:

S301: Acquire sensing data output by sensors of the unmanned aerial vehicle, and determine whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data.

S302, when the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold, reduce the maximum flight speed of the unmanned aerial vehicle.

In one embodiment, after reducing the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can determine whether the complexity of the environment around the unmanned aerial vehicle is lower than a preset complexity threshold according to the sensor data. When the complexity of the environment is lower than the preset complexity threshold, the UAV can resume the maximum flight speed of the UAV.

In the embodiment of the present application, the UAV does not need to detect whether the UAV has the obstacle avoidance function, or the obstacle avoidance function of the UAV is in the off state or in the open state, as long as the complexity of the environment around the UAV is higher than the preset The complexity threshold of the unmanned aerial vehicle is reduced, and the maximum flight speed of the unmanned aerial vehicle is reduced. Compared with the above-mentioned embodiment, the step of detecting whether the obstacle avoidance function of the unmanned aerial vehicle is turned off is reduced, and the control efficiency of the unmanned aerial vehicle is improved. This effectively improves the safety of unmanned aerial vehicles.

In one embodiment, based on the descriptions of the foregoing embodiments, the unmanned aerial vehicle acquires the sensing data output by the sensors of the unmanned aerial vehicle, and determines whether the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity according to the sensing data. The method of degree threshold is described in detail.

The complexity of the environment may include one or more of the density of buildings, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.

The manner in which the unmanned aerial vehicle obtains the sensing data output by the sensor of the unmanned aerial vehicle, and determines whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data may include at least one of the following:

1. Taking the sensor as the satellite positioning device as an example, the unmanned aerial vehicle can obtain the position output by the satellite positioning device of the unmanned aerial vehicle, and determine whether the building density of the surrounding environment of the unmanned aerial vehicle is higher than the predetermined level according to the position output by the satellite positioning device. The set building density threshold, when the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is higher than the preset building density threshold When the building density of the environment around the unmanned aerial vehicle is lower than or equal to the preset building density threshold, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is lower than or equal to the preset building density threshold. The set complexity threshold. Optionally, the unmanned aerial vehicle can determine whether the crowd density of the environment around the unmanned aircraft is higher than a preset crowd density threshold according to the position output by the satellite positioning device, when the crowd density of the environment around the unmanned aircraft is higher than When the preset crowd density threshold, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aircraft is higher than the preset complexity threshold; when the crowd density of the environment around the unmanned aircraft is lower than or equal to the preset When the crowd density threshold is set, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is lower than or equal to the preset complexity threshold.

In one embodiment, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device, and when it is determined that the unmanned aerial vehicle is in the urban area, determine the building density of the environment around the unmanned aerial vehicle higher than the preset building density threshold, when it is determined that the unmanned aerial vehicle is not located in an urban area, the unmanned aerial vehicle can determine that the building density of the environment around the unmanned aerial vehicle is lower than or equal to the preset building density threshold. Optionally, when it is determined that the unmanned aerial vehicle is in an urban area, the unmanned aerial vehicle may determine that the crowd density of the environment around the unmanned aerial vehicle is higher than a preset crowd density threshold, and when it is determined that the unmanned aerial vehicle is not in the urban area When , the UAV can determine that the crowd density of the environment around the UAV is lower than or equal to the preset crowd density threshold.

For example, assuming that there are 1000 urban areas, you can count the locations of each urban area, generate a location set consisting of the locations of all urban areas, and then store the location set corresponding to the urban area in the UAV. After the UAV obtains the position output by the satellite positioning device, it can compare the position output by the satellite positioning device with the position in the position set corresponding to the urban area. When the position set corresponding to the urban area includes the position output by the satellite positioning device, then no The human air vehicle can determine that the UAV is in an urban area; when the location set corresponding to the urban area does not include the position output by the satellite positioning device, then the UAV can determine that the UAV is not in the urban area.

In one embodiment, the unmanned aerial vehicle can also obtain the altitude of the unmanned aerial vehicle, and then determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset level according to the position output by the satellite positioning device and the altitude of the unmanned aerial vehicle The building density threshold, or according to the position output by the satellite positioning device and the height of the UAV, determine whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold.

In one embodiment, the unmanned aerial vehicle may determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device, and when it is determined that the unmanned aerial vehicle is in the urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, determine whether the unmanned aerial vehicle is in an urban area The building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or, when it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than the preset height threshold, it is determined that the unmanned aerial vehicle The crowd density of the surrounding environment is higher than the preset crowd density threshold.

In this embodiment, when the UAV is in an urban area and the height of the UAV is less than the preset height threshold, the probability of the UAV colliding with a building or a pedestrian increases, then the UAV can determine that the UAV The building density of the surrounding environment is higher than the preset building density threshold; or, the UAV may determine that the crowd density of the environment surrounding the UAV is higher than the preset crowd density threshold.

2. Taking the sensor as a visual sensor as an example, the unmanned aerial vehicle can obtain the image output by the visual sensor of the unmanned aerial vehicle, detect the building density of the environment around the unmanned aerial vehicle according to the image, and determine whether the detected building density is high. Based on the preset building density threshold, when the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle. A preset complexity threshold; when the building density of the environment around the unmanned aerial vehicle is lower than or equal to the preset building density threshold, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is lower than or equal to Equal to the preset complexity threshold. Optionally, the unmanned aerial vehicle can detect the crowd density of the environment around the unmanned aerial vehicle according to the image, and determine whether the detected crowd density is higher than a preset crowd density threshold. When the degree is higher than the preset crowd density threshold, the UAV can determine that the complexity of the environment around the UAV is higher than the preset complexity threshold; when the crowd density of the environment around the UAV is lower than or equal to When the preset crowd density threshold is set, the unmanned aerial vehicle may determine that the complexity of the environment around the unmanned aerial vehicle is lower than or equal to the preset complexity threshold.

For example, the UAV can run a recognition model algorithm on the image to determine the number of buildings in the image, and when the number of buildings in the image is greater than a first preset number threshold, the UAV can determine the detected buildings The density is higher than the preset building density threshold; when the number of buildings in the image is less than or equal to the first preset number threshold, the UAV can determine that the detected building density is lower than or equal to the preset number of buildings Building density threshold. Similarly, the unmanned aerial vehicle can run the recognition model algorithm on the image to determine the number of people in the image. When the number of people in the image is greater than the second preset number threshold, the unmanned aerial vehicle can determine that the detected density of people is higher than A preset crowd density threshold; when the number of people in the image is less than or equal to the second preset number threshold, the UAV can determine that the detected crowd density is lower than or equal to the preset crowd density threshold.

3. The unmanned aerial vehicle can determine the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle, determine the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle, and determine the unmanned aerial vehicle according to the distance and the received signal strength Whether the electromagnetic interference degree of the surrounding environment is higher than the preset electromagnetic interference degree threshold, when the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than the preset electromagnetic interference degree threshold, the unmanned aerial vehicle can determine the electromagnetic interference degree around the unmanned aerial vehicle. The complexity of the environment is higher than the preset complexity threshold; when the electromagnetic interference degree of the environment around the unmanned aerial vehicle is lower than or equal to the preset electromagnetic interference degree threshold, the unmanned aerial vehicle can determine the complexity of the environment around the unmanned aerial vehicle The level is lower than or equal to the preset complexity threshold.

In one embodiment, the unmanned aerial vehicle can obtain the position information of the control terminal through the positioning module of the control terminal, and obtain the position information of the unmanned aerial vehicle through the positioning module of the unmanned aerial vehicle, and then obtain the position information of the unmanned aerial vehicle according to the position information of the control terminal and the unmanned aerial vehicle. The distance between the control terminal and the UAV is obtained from the position information.

For example, the unmanned aerial vehicle can be tested in an environment with less electromagnetic interference (such as an open environment or a good radio environment), and when the distance between the unmanned aerial vehicle and the control terminal is a specified distance, the unmanned aerial vehicle receives the signal. Control the received signal strength of the control signal of the terminal, where the received signal strength is the normal received signal strength. The UAV can establish the corresponding relationship between each distance and the received signal strength, and store each distance and its corresponding received signal strength in a preset database. After the unmanned aerial vehicle determines the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle, and the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle, it can search for the received signal corresponding to the distance in the preset database Strength, compare the received signal strength of the control signal of the control terminal received by the UAV with the found received signal strength, when the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle and the found received signal When the strengths match, the unmanned aerial vehicle can determine that the electromagnetic interference degree of the environment around the unmanned aerial vehicle is lower than or equal to the preset electromagnetic interference degree threshold; When the received signal strengths of the unmanned aerial vehicles do not match, the unmanned aerial vehicle can determine that the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than the preset electromagnetic interference degree threshold. For example, when the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle is less than the found received signal strength, the unmanned aerial vehicle may determine the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle and find the received signal strength of the control terminal. The received signal strength does not match; otherwise, it matches. For another example, when the difference between the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle and the found received signal strength is greater than the preset strength threshold, the unmanned aerial vehicle may determine the control signal received by the unmanned aerial vehicle. The received signal strength of the control signal of the terminal does not match the found received signal strength; otherwise, it matches.

4. The UAV can detect the dimness of the environment around the UAV, and determine whether the detected dimness is higher than the preset dimness threshold. When the detected dimness is higher than the preset dimness When the level threshold is set, the unmanned aerial vehicle can determine that the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold; when the detected light dim level is lower than or equal to the preset light dim level threshold, the unmanned aerial vehicle It may be determined that the complexity of the environment around the UAV is lower than or equal to a preset complexity threshold.

Wherein, the above-mentioned various ways of determining whether the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold can be combined arbitrarily to obtain a new way of determining whether the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity Degree threshold method. For example, the unmanned aerial vehicle can obtain the position output by the satellite positioning device of the unmanned aerial vehicle, and determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold according to the position output by the satellite positioning device. The unmanned aerial vehicle can also determine the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle, determine the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle, and determine the surrounding area of the unmanned aerial vehicle according to the distance and the received signal strength. Whether the electromagnetic interference level of the environment is higher than the preset electromagnetic interference level threshold. When the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, and the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than the preset electromagnetic interference degree threshold, the unmanned aerial vehicle can determine The complexity of the environment around the UAV is higher than the preset complexity threshold. It is not specifically limited by the embodiments of the present application.

Please refer to FIG. 4 , which is a schematic structural diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application. The control device of the unmanned aerial vehicle described in the embodiments of this application includes: a processor 401 , a memory 402 , a communication interface 403 , and a sensor 404 . The above-mentioned processor 401, memory 402, communication interface 403, and sensor 404 are connected through one or more communication buses.

The above-mentioned processor 401 may be a CPU, and the processor may also be other general-purpose processors, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor 401 is configured to support the UAV to perform the corresponding functions of the UAV in the method described in FIG. 1 .

The above-mentioned memory 402 may include read-only memory and random access memory, and provides computer programs and data to the processor 401 . A portion of memory 402 may also include non-volatile random access memory. Wherein, when the processor 401 calls the computer program, it is used to execute:

Detecting whether the obstacle avoidance function of the UAV is turned off;

In one embodiment, the processor 401 is further configured to perform the following operation: sending a prompt message that the obstacle avoidance function has been enabled to the control terminal of the unmanned aerial vehicle.

In one embodiment, the complexity of the environment includes one or more of the degree of building density, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.

In one embodiment, the processor 401 is acquiring sensing data output by a sensor of the UAV, and determining whether the complexity of the environment around the UAV is higher than a preset level according to the sensing data When the complexity threshold is set, perform the following operations:

Obtain the position output by the satellite positioning device of the unmanned aerial vehicle;

According to the position output by the satellite positioning device, determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold, or whether the crowd density of the environment around the unmanned aerial vehicle is high at the preset crowd density threshold.

In one embodiment, the processor 401 determines whether the building density of the environment around the UAV is higher than a preset building density threshold according to the position output by the satellite positioning device, or the When the crowd density of the environment around the UAV is higher than the preset crowd density threshold, specifically perform the following operations:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or,

When it is determined that the UAV is in an urban area, it is determined that the crowd density of the environment around the UAV is higher than a preset crowd density threshold.

In one embodiment, the processor 401 is further configured to perform the following operations: obtain the altitude of the UAV;

The processor 401 determines whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold according to the position output by the satellite positioning device, or the environment around the unmanned aerial vehicle. When the density of the personnel is higher than the preset threshold of personnel density, perform the following operations:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, determine whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.

In one embodiment, the processor 401 determines, according to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, whether the building density of the environment around the unmanned aerial vehicle is higher than the predetermined level. When the set building density threshold, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, specifically perform the following operations:

When it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold ;or,

When it is determined that the UAV is in an urban area and the height of the UAV is less than a preset height threshold, it is determined that the crowd density of the environment around the UAV is higher than the preset crowd density threshold.

In one embodiment, when determining whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor 401 specifically performs the following operations:

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

Detecting the building density of the environment around the UAV based on the image;

determining whether the detected building density is higher than a preset building density threshold; or,

Detecting the crowd density of the environment around the unmanned aerial vehicle according to the image;

It is determined whether the detected crowd density is higher than a preset crowd density threshold.

In one embodiment, the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by other types of sensors different from the visual sensor, and the processor 401 performs obstacle avoidance according to the When the sensing data determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold, the following operations are specifically performed:

detecting the dimness of the environment around the UAV;

It is determined whether the detected light dim level is higher than a preset light dim level threshold.

determining the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle;

determining the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle;

According to the distance and the received signal strength, it is determined whether the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than a preset electromagnetic interference degree threshold.

In one embodiment, the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by the visual sensor, and the processor 401 is further configured to perform the following operations:

When the obstacle avoidance function is turned off and the dimness of the environment around the unmanned aerial vehicle is higher than a preset dimness threshold, the maximum flight speed of the unmanned aerial vehicle is reduced.

In one embodiment, the processor 401 is further configured to perform the following operations:

After turning on the obstacle avoidance function of the unmanned aerial vehicle, determining whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the UAV is lower than the preset complexity threshold, the obstacle avoidance function of the UAV is turned off.

In another embodiment, the processor 401 is configured to support the UAV to perform the corresponding functions of the UAV in the method described in FIG. 2 .

Wherein, when the processor 401 calls the computer program, it is used to execute:

Detecting whether the obstacle avoidance function of the UAV is turned off;

The processor 401 determines whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold according to the position output by the satellite positioning device, or whether the environment around the unmanned aerial vehicle is When the density of the personnel is higher than the preset threshold of personnel density, perform the following operations:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

detecting the dimness of the environment around the UAV;

After reducing the maximum flight speed of the unmanned aerial vehicle, determining whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold, the maximum flying speed of the unmanned aerial vehicle is restored.

In another embodiment, the processor 401 is configured to support the UAV to perform the corresponding functions of the UAV in the method described in FIG. 3 .

When the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the maximum flying speed of the unmanned aerial vehicle is reduced.

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

detecting the dimness of the environment around the UAV;

The unmanned aerial system including the unmanned aerial vehicle will be described below with reference to FIG. 5 . This embodiment is described by taking a rotorcraft as an example.

Unmanned aerial system 100 may include unmanned aerial vehicle 110, carrier 120, and control equipment. The UAV 110 may include a power system 150 , a flight control system 160 , and a frame 170 . The UAV 110 may communicate wirelessly with the control device.

Frame 170 may include a fuselage and legs (also known as landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame. The tripod is connected with the fuselage, and is used for supporting when the UAV 110 is landed. One or more indicator lights may be mounted on the frame 170, such as boom mounted boom lights.

The power system 150 may include an electronic governor (referred to as ESC for short) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153, wherein the electric motor 152 is connected to the electronic governor Between 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the corresponding arms; the electronic governor 151 is used to receive the driving signal generated by the flight controller 160, and provide the driving current to the motor 152 according to the driving signal to control the The rotational speed of the motor 152 . The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110, and the power enables the UAV 110 to achieve one or more degrees of freedom movement. 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 power system 150 corresponds to the power components in the above-described embodiments.

Flight control system 160 may include flight controller 161 and sensing system 162 . Sensing system 162 is used to measure sensory data of the unmanned aerial vehicle. The sensing system 162 may include, for example, at least one of a gyroscope, an electronic compass, an IMU, a visual sensor (eg, a monocular camera or a dual/multi-eye camera, etc.), GPS, a barometer, and a visual inertial navigation odometer. The flight controller 161 is used to control the unmanned aerial vehicle 110 , for example, the unmanned aerial vehicle 110 may be controlled to perform a display work task according to the sensing data measured by the sensing system 162 .

Carrier 120 may be used to carry load 180 . For example, when the carrier 120 is a pan/tilt device, the payload 180 may be a photographing device (eg, a camera, a video camera, etc.), and the embodiments of the present application are not limited thereto, for example, the carrier may also be used to carry weapons or other payloads carrying equipment. Exemplarily, the load 180 may also be a spray head.

Embodiments of the present application further provide an unmanned aerial vehicle, which may include a fuselage; a power system disposed on the fuselage for providing flight power; a sensor installed on the fuselage for outputting transmission power sensory data; and the control device of the unmanned aerial vehicle as described in FIG. 4 in the embodiment of the present application.

In one implementation, the UAV may further include a communication device mounted on the fuselage for interacting with other devices.

In an implementation manner, the sensor includes at least one of the following: a satellite positioning device, a visual sensor, and other types of sensors different from the visual sensor.

An embodiment of the present application further provides a readable storage medium, where the readable storage medium stores a computer program, and when the computer program is executed by a processor, it can be used to implement the implementations corresponding to FIG. 1 to FIG. 3 in the embodiment of the present application The control method of the unmanned aerial vehicle described in the example will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the UAV described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device of the UAV, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card ( Flash Card), etc. Further, the computer-readable storage medium may also include both an internal storage unit of the UAV and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the UAV. The computer-readable storage medium can also be used to temporarily store data that has been or will be output.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a readable storage medium, and the program During execution, the processes of the embodiments of the above-mentioned methods may be included. Wherein, the storage medium may be a magnetic disk, an optical disk, a ROM or a RAM, and the like.

The above disclosures are only the preferred embodiments of the present application, and of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A control method for an unmanned aerial vehicle, comprising:

acquiring sensing data output by sensors of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data;

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is disabled and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the obstacle avoidance function of the unmanned aerial vehicle is enabled.
The method according to claim 1, wherein the method further comprises: sending a prompt message that the obstacle avoidance function has been enabled to the control terminal of the unmanned aerial vehicle.
The method according to claim 1 or 2, wherein the complexity of the environment includes one or more of the density of buildings, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.
The method according to claim 1, wherein the acquiring sensing data output by a sensor of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than the complexity of the environment around the unmanned aerial vehicle according to the sensing data Preset complexity thresholds, including:

Obtain the position output by the satellite positioning device of the unmanned aerial vehicle;

According to the position output by the satellite positioning device, determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold, or whether the crowd density of the environment around the unmanned aerial vehicle is high at the preset crowd density threshold.
The method according to claim 4, wherein determining whether the building density of the environment around the UAV is higher than a preset building density threshold according to the position output by the satellite positioning device, Or whether the crowd density of the environment around the UAV is higher than a preset crowd density threshold, including:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or,

When it is determined that the UAV is in an urban area, it is determined that the crowd density of the environment around the UAV is higher than a preset crowd density threshold.
The method according to claim 4, wherein the method further comprises: acquiring the altitude of the unmanned aerial vehicle;

Determining whether the building density of the environment around the UAV is higher than a preset building density threshold according to the position output by the satellite positioning device, or the crowd density of the environment around the UAV Is it higher than the preset crowd density threshold, including:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.
The method according to claim 6, wherein, according to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the density of buildings in the environment around the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle. The preset building density threshold, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, including:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold ;or,

When it is determined that the UAV is in an urban area and the height of the UAV is less than a preset height threshold, it is determined that the crowd density of the environment around the UAV is higher than the preset crowd density threshold.
The method according to claim 1, wherein the determining, according to the sensing data, whether the complexity of the environment around the UAV is higher than a preset complexity threshold, comprising:

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

Detecting the building density of the environment around the UAV based on the image;

determining whether the detected building density is higher than a preset building density threshold; or,

Detecting the crowd density of the environment around the unmanned aerial vehicle according to the image;

It is determined whether the detected crowd density is higher than a preset crowd density threshold.
The method according to claim 1, wherein the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to distances measured by other types of sensors different from the visual sensor, and the Determine whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, including:

detecting the dimness of the environment around the UAV;

It is determined whether the detected light dim level is higher than a preset light dim level threshold.
The method according to claim 1, wherein the determining, according to the sensing data, whether the complexity of the environment around the UAV is higher than a preset complexity threshold, comprising:

determining the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle;

determining the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle;

According to the distance and the received signal strength, it is determined whether the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than a preset electromagnetic interference degree threshold.
The method according to claim 1, wherein the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by a visual sensor, and the method further comprises:

When the obstacle avoidance function is turned off and the dimness of the environment around the unmanned aerial vehicle is higher than a preset dimness threshold, the maximum flight speed of the unmanned aerial vehicle is reduced.
The method according to claim 1, wherein the method further comprises:

After turning on the obstacle avoidance function of the unmanned aerial vehicle, determining whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the UAV is lower than the preset complexity threshold, the obstacle avoidance function of the UAV is turned off.
A control method for an unmanned aerial vehicle, comprising:

acquiring sensing data output by sensors of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data;

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the maximum flying speed of the unmanned aerial vehicle is reduced.
The method according to claim 13, wherein the complexity of the environment includes one or more of the density of buildings, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.
The method according to claim 13, wherein the acquiring sensing data output by a sensor of the unmanned aerial vehicle, and determining, according to the sensing data, whether the complexity of the environment around the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle. Preset complexity thresholds, including:

Obtain the position output by the satellite positioning device of the unmanned aerial vehicle;

According to the position output by the satellite positioning device, determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold, or whether the crowd density of the environment around the unmanned aerial vehicle is high at the preset crowd density threshold.
The method according to claim 15, wherein the determining whether the building density of the environment around the UAV is higher than a preset building density threshold according to the position output by the satellite positioning device, Or whether the crowd density of the environment around the UAV is higher than a preset crowd density threshold, including:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or,

When it is determined that the UAV is in an urban area, it is determined that the crowd density of the environment around the UAV is higher than a preset crowd density threshold.
The method according to claim 15, wherein the method further comprises: obtaining the altitude of the unmanned aerial vehicle;

Determining whether the building density of the environment around the UAV is higher than a preset building density threshold according to the position output by the satellite positioning device, or the crowd density of the environment around the UAV Is it higher than the preset crowd density threshold, including:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.
The method according to claim 17, wherein, according to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the density of buildings in the environment around the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle. The preset building density threshold, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, including:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold ;or,

When it is determined that the UAV is in an urban area and the height of the UAV is less than a preset height threshold, it is determined that the crowd density of the environment around the UAV is higher than the preset crowd density threshold.
The method according to claim 13, wherein the determining, according to the sensing data, whether the complexity of the environment around the UAV is higher than a preset complexity threshold, comprising:

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

Detecting the building density of the environment around the UAV based on the image;

determining whether the detected building density is higher than a preset building density threshold; or,

Detecting the crowd density of the environment around the unmanned aerial vehicle according to the image;

It is determined whether the detected crowd density is higher than a preset crowd density threshold.
The method according to claim 13, wherein the determining, according to the sensing data, whether the complexity of the environment around the UAV is higher than a preset complexity threshold, comprising:

detecting the dimness of the environment around the UAV;

It is determined whether the detected light dim level is higher than a preset light dim level threshold.
The method according to claim 13, wherein the determining, according to the sensing data, whether the complexity of the environment around the UAV is higher than a preset complexity threshold, comprising:

determining the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle;

determining the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle;

According to the distance and the received signal strength, it is determined whether the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than a preset electromagnetic interference degree threshold.
The method of claim 13, wherein the method further comprises:

After reducing the maximum flight speed of the unmanned aerial vehicle, determine whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold, restore the maximum flying speed of the unmanned aerial vehicle.
A control device for an unmanned aerial vehicle, comprising a memory and a processor, wherein,

the memory for storing program codes;

The processor calls the program code in the memory, and when the program code is executed, is used to perform the following operations:

acquiring sensing data output by sensors of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data;

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is disabled and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the obstacle avoidance function of the unmanned aerial vehicle is enabled.
The device according to claim 23, wherein the processor is further configured to perform the following operation: sending a prompt message that the obstacle avoidance function has been enabled to the control terminal of the unmanned aerial vehicle.
The device according to claim 23 or 24, wherein the complexity of the environment includes one or more of the density of buildings, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.
The device according to claim 23, wherein the processor is acquiring sensing data output by a sensor of the unmanned aerial vehicle, and determining the complexity of the environment around the unmanned aerial vehicle according to the sensing data When it is higher than the preset complexity threshold, perform the following operations:

Obtain the position output by the satellite positioning device of the unmanned aerial vehicle;

According to the position output by the satellite positioning device, determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold, or whether the crowd density of the environment around the unmanned aerial vehicle is high at the preset crowd density threshold.
The device according to claim 26, wherein the processor determines whether the building density of the environment around the UAV is higher than a preset building density according to the position output by the satellite positioning device When the degree threshold is set, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, the following operations are specifically performed:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or,

When it is determined that the UAV is in an urban area, it is determined that the crowd density of the environment around the UAV is higher than a preset crowd density threshold.
The device according to claim 26, wherein the processor is further configured to perform the following operations: obtain the altitude of the unmanned aerial vehicle;

The processor determines, according to the position output by the satellite positioning device, whether the building density of the environment around the UAV is higher than a preset building density threshold, or whether the environment around the UAV is more densely populated. When the crowd density is higher than the preset crowd density threshold, perform the following operations:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.
The device according to claim 28, wherein the processor determines the building density of the environment around the UAV according to the position output by the satellite positioning device and the altitude of the UAV When it is higher than the preset building density threshold, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, specifically perform the following operations:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold ;or,

When it is determined that the UAV is in an urban area and the height of the UAV is less than a preset height threshold, it is determined that the crowd density of the environment around the UAV is higher than the preset crowd density threshold.
The apparatus according to claim 23, wherein when the processor determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following steps: operate:

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

Detecting the building density of the environment around the UAV based on the image;

determining whether the detected building density is higher than a preset building density threshold; or,

Detecting the crowd density of the environment around the unmanned aerial vehicle according to the image;

It is determined whether the detected crowd density is higher than a preset crowd density threshold.
The device according to claim 23, wherein the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by other types of sensors different from the visual sensor, and the When determining whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following operations:

detecting the dimness of the environment around the UAV;

It is determined whether the detected light dim level is higher than a preset light dim level threshold.
The apparatus according to claim 23, wherein when the processor determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following steps: operate:

determining the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle;

determining the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle;

According to the distance and the received signal strength, it is determined whether the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than a preset electromagnetic interference degree threshold.
The device according to claim 23, wherein the obstacle avoidance function of the unmanned aerial vehicle is to implement obstacle avoidance for the unmanned aerial vehicle according to the distance measured by the visual sensor, and the processor is further configured to Do the following:

When the obstacle avoidance function is turned off and the dimness of the environment around the unmanned aerial vehicle is higher than a preset dimness threshold, the maximum flight speed of the unmanned aerial vehicle is reduced.
The apparatus according to claim 23, wherein the processor is further configured to perform the following operations:

After turning on the obstacle avoidance function of the unmanned aerial vehicle, determining whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the UAV is lower than the preset complexity threshold, the obstacle avoidance function of the UAV is turned off.
A control device for an unmanned aerial vehicle, comprising a memory and a processor, wherein,

the memory for storing program codes;

The processor calls the program code in the memory, and when the program code is executed, is used to perform the following operations:

acquiring sensing data output by sensors of the unmanned aerial vehicle, and determining whether the complexity of the environment around the unmanned aerial vehicle is higher than a preset complexity threshold according to the sensing data;

Detecting whether the obstacle avoidance function of the UAV is turned off;

When the obstacle avoidance function is turned off and the complexity of the environment around the unmanned aerial vehicle is higher than the preset complexity threshold, the maximum flying speed of the unmanned aerial vehicle is reduced.
The device according to claim 35, wherein the complexity of the environment includes one or more of the density of buildings, the density of people, the degree of electromagnetic interference, and the degree of dim light in the environment.
The device according to claim 35, wherein the processor is acquiring sensing data output by a sensor of the unmanned aerial vehicle, and determining the complexity of the environment around the unmanned aerial vehicle according to the sensing data When it is higher than the preset complexity threshold, perform the following operations:

Obtain the position output by the satellite positioning device of the unmanned aerial vehicle;

According to the position output by the satellite positioning device, determine whether the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold, or whether the crowd density of the environment around the unmanned aerial vehicle is high at the preset crowd density threshold.
The device according to claim 37, wherein the processor determines whether the building density of the environment around the UAV is higher than a preset building density according to the position output by the satellite positioning device When the degree threshold is set, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, the following operations are specifically performed:

Determine whether the unmanned aerial vehicle is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than a preset building density threshold; or,

When it is determined that the UAV is in an urban area, it is determined that the crowd density of the environment around the UAV is higher than a preset crowd density threshold.
The apparatus according to claim 37, wherein the processor is further configured to perform the following operations: obtain the altitude of the UAV;

The processor determines, according to the position output by the satellite positioning device, whether the building density of the environment around the UAV is higher than a preset building density threshold, or whether the environment around the UAV is more densely populated. When the crowd density is higher than the preset crowd density threshold, perform the following operations:

According to the position output by the satellite positioning device and the height of the unmanned aerial vehicle, it is determined whether the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold, or the unmanned aerial vehicle Whether the crowd density of the environment around the human aircraft is higher than the preset crowd density threshold.
The device according to claim 39, wherein the processor determines the building density of the environment around the UAV according to the position output by the satellite positioning device and the altitude of the UAV When it is higher than the preset building density threshold, or whether the crowd density of the environment around the UAV is higher than the preset crowd density threshold, specifically perform the following operations:

Determine whether the UAV is in an urban area according to the position output by the satellite positioning device;

When it is determined that the unmanned aerial vehicle is in an urban area and the height of the unmanned aerial vehicle is less than a preset height threshold, it is determined that the building density of the environment around the unmanned aerial vehicle is higher than the preset building density threshold ;or,

When it is determined that the UAV is in an urban area and the height of the UAV is less than a preset height threshold, it is determined that the crowd density of the environment around the UAV is higher than the preset crowd density threshold.
The device according to claim 35, wherein when the processor determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following steps: operate:

acquiring an image output by a visual sensor of the unmanned aerial vehicle;

Detecting the building density of the environment around the UAV based on the image;

determining whether the detected building density is higher than a preset building density threshold; or,

Detecting the crowd density of the environment around the unmanned aerial vehicle according to the image;

It is determined whether the detected crowd density is higher than a preset crowd density threshold.
The device according to claim 35, wherein when the processor determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following steps: operate:

detecting the dimness of the environment around the UAV;

It is determined whether the detected light dim level is higher than a preset light dim level threshold.
The device according to claim 35, wherein when the processor determines whether the complexity of the environment around the UAV is higher than a preset complexity threshold according to the sensing data, the processor specifically performs the following steps: operate:

determining the distance between the control terminal of the unmanned aerial vehicle and the unmanned aerial vehicle;

determining the received signal strength of the control signal of the control terminal received by the unmanned aerial vehicle;

According to the distance and the received signal strength, it is determined whether the electromagnetic interference degree of the environment around the unmanned aerial vehicle is higher than a preset electromagnetic interference degree threshold.
The apparatus according to claim 35, wherein the processor is further configured to perform the following operations:

After reducing the maximum flight speed of the unmanned aerial vehicle, determine whether the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold according to the sensing data;

When the complexity of the environment around the unmanned aerial vehicle is lower than the preset complexity threshold, restore the maximum flying speed of the unmanned aerial vehicle.
A kind of unmanned aerial vehicle, is characterized in that, comprises:

body;

a power system, mounted on the fuselage, for powering the unmanned aerial vehicle;

a sensor, mounted on the fuselage, for outputting sensing data;

and a control device for an unmanned aerial vehicle as claimed in any one of claims 23-34.
The unmanned aerial vehicle of claim 45, wherein the unmanned aerial vehicle further comprises a communication device, the communication device being mounted on the fuselage, the communication device being used to interact with other devices.
The unmanned aerial vehicle according to claim 45 or 46, wherein the sensor includes at least one of the following: a satellite positioning device, a visual sensor, and other types of sensors different from the visual sensor.
A kind of unmanned aerial vehicle, is characterized in that, comprises:

body;

a power system, mounted on the fuselage, for powering the unmanned aerial vehicle;

a sensor, mounted on the fuselage, for outputting sensing data;

and a control device for an unmanned aerial vehicle as claimed in any one of claims 35-44.
The unmanned aerial vehicle of claim 48, wherein the unmanned aerial vehicle further comprises a communication device, the communication device being mounted on the fuselage, the communication device being used to interact with other devices.
The unmanned aerial vehicle according to claim 48 or 49, wherein the sensor includes at least one of the following: a satellite positioning device, a visual sensor, and other types of sensors different from the visual sensor.
A computer storage medium, wherein computer program instructions are stored in the computer storage medium, and when the computer program instructions are executed by a processor, are used to execute the unmanned aerial vehicle according to any one of claims 23-34. The control method of the aircraft.
A computer storage medium, characterized in that, computer program instructions are stored in the computer storage medium, and when the computer program instructions are executed by a processor, the computer program instructions are used to execute the unmanned aerial vehicle according to any one of claims 35-44. The control method of the aircraft.