CN110832420A

CN110832420A - Unmanned aerial vehicle control method and device and unmanned aerial vehicle

Info

Publication number: CN110832420A
Application number: CN201880041843.2A
Authority: CN
Inventors: 赖镇洲; 王凯
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-07-19
Filing date: 2018-07-19
Publication date: 2020-02-21
Also published as: WO2020014930A1

Abstract

A control method and device for an unmanned aerial vehicle and the unmanned aerial vehicle are provided, and the method comprises the following steps: acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed (S201); obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position (S202); determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle (S203); predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle (S204); according to the maximum threat level, a collision prevention operation is performed (S205). According to the method, the threat degree of the unmanned aerial vehicle to the aircraft is predicted if the unmanned aerial vehicle avoids the aircraft to fly, and then collision prevention operation is executed, so that the unmanned aerial vehicle is ensured not to interfere normal flight of the aircraft from the current moment, and the flight safety of the aircraft is ensured.

Description

Unmanned aerial vehicle control method and device and unmanned aerial vehicle

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and device and an unmanned aerial vehicle.

Background

Unmanned aerial vehicle has obtained extensive application in recent years, has played more and more important effect in the social field. The unmanned aerial vehicle generally flies in an airspace, but with the increase of the number of the unmanned aerial vehicles in the airspace, the increase of the ascending limit, the unmanned aerial vehicle taking off near an airport by part of users and other factors, the unmanned aerial vehicle gradually invades into the airspace of civil aviation flights, and the safety of large aircrafts and passengers thereof is seriously affected, so measures are required to be taken to avoid collision between the unmanned aerial vehicle and the large aircrafts. At present, the position of aircraft can real-time broadcast self, then according to the current position of this unmanned aerial vehicle and the position of aircraft, determine the distance between unmanned aerial vehicle and the aircraft, if this distance is less than preset distance, then it is high to determine the possibility that unmanned aerial vehicle and aircraft collided, to user output early warning information, then the user controls unmanned aerial vehicle in order to reduce this kind of possibility according to this early warning information, if this distance is greater than or equal to preset distance, then it is low to determine the possibility that unmanned aerial vehicle and aircraft collided, do not output early warning information to the user.

However, even if the currently calculated distance is greater than or equal to the preset distance, if the unmanned aerial vehicle flies in the opposite direction to the aircraft, the unmanned aerial vehicle may interfere with the aircraft due to the fact that the early warning information is not timely output, and then the flight safety of the aircraft is affected.

Disclosure of Invention

The embodiment of the invention provides a control method and device of an unmanned aerial vehicle and the unmanned aerial vehicle, which are used for avoiding the interference of the unmanned aerial vehicle on an aircraft and ensuring the flight safety of the aircraft.

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

acquiring flight parameters of an aircraft, wherein the flight parameters comprise: flight position, flight speed;

obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position;

predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum allowable flight speed of the drone in at least one spatial direction;

performing collision prevention operation according to the minimum distance;

wherein the speed comprises a speed direction and a speed magnitude.

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

acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed;

determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle;

predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle;

executing collision prevention operation according to the maximum threat degree;

wherein the speed comprises a speed direction and a speed magnitude.

In a third aspect, an embodiment of the present invention provides a control apparatus for an unmanned aerial vehicle, including: a memory and a processor;

the memory is used for storing codes for executing the control method of the unmanned aerial vehicle;

the processor is used for calling the codes stored in the memory and executing: acquiring flight parameters of an aircraft, wherein the flight parameters comprise: flight position, flight speed; obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position; predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum allowable flight speed of the drone in at least one spatial direction; performing collision prevention operation according to the minimum distance; wherein the speed comprises a speed direction and a speed magnitude.

In a fourth aspect, an embodiment of the present invention provides a control apparatus for an unmanned aerial vehicle, including: a memory and a processor;

the processor is used for calling the codes stored in the memory and executing: acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed; obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position; determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle; predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle; executing collision prevention operation according to the maximum threat degree; wherein the speed comprises a speed direction and a speed magnitude.

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

In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, where the computer program includes at least one piece of code, and the at least one piece of code is executable by a computer to control the computer to execute the method for controlling a drone according to the first or second aspect.

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

According to the control method and device for the unmanned aerial vehicle and the unmanned aerial vehicle, the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle are obtained; determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle; predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle; and executing collision prevention operation according to the maximum threat degree. If the unmanned aerial vehicle is predicted to avoid flying by the aircraft, the threat degree of the unmanned aerial vehicle to the aircraft is predicted, and then collision prevention operation is executed, so that the unmanned aerial vehicle is ensured not to interfere normal flying of the aircraft from the current moment, and the flying safety of the aircraft is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

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

fig. 2 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;

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

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

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

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

Detailed Description

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

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the 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 invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The embodiment of the invention provides a control method and equipment of an unmanned aerial vehicle and the unmanned aerial vehicle. Where the drone may be a rotorcraft (rotorcraft), for example, a multi-rotor aircraft propelled through the air by a plurality of propulsion devices, embodiments of the invention are not limited in this regard.

FIG. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the invention. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a control apparatus 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

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

The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry the photographing device 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image taken by the imaging device may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.

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

Fig. 2 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 2, the method according to the embodiment may include:

s201, acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed.

S202, acquiring flight parameters of the unmanned aerial vehicle, wherein the flight parameters of the unmanned aerial vehicle comprise: a flight position.

In this embodiment, the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle can be acquired, and it should be noted that, this embodiment does not limit the order of acquiring the flight parameters of the aircraft and acquiring the flight parameters of the unmanned aerial vehicle. The flight parameters can be acquired in real time or acquired according to preset intervals. Acquiring flight parameters of the aircraft may be: the method includes the steps of obtaining flight parameters of an aircraft released through the internet, or obtaining flight parameters of the aircraft received by Broadcast Automatic Dependent Surveillance (ADS-B) equipment on an unmanned aerial vehicle. Optionally, obtaining the first flight status information of the aircraft transmitted via the internet may include: the first flight status information of the posted aircraft is obtained through a preset website, which may be, for example, a website for status information query or posting of some professional aircraft (e.g., www.flightradar24.com, zh.

Wherein the flight parameters of the aircraft include: flight position, flight speed. Optionally, the flight parameters of the aircraft may further include: acceleration, altitude, identity information.

Wherein, unmanned aerial vehicle's flight parameter includes: a flight position. Optionally, the flight parameters of the drone may further include: one or more of flight speed information, acceleration, altitude, identity information.

S203, determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

In this embodiment, the avoidance flight speed of the unmanned aerial vehicle is determined according to the currently acquired flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle. The avoiding flying speed of the unmanned aerial vehicle enables the unmanned aerial vehicle to be far away from the aircraft if the unmanned aerial vehicle flies according to the avoiding flying speed.

The speed includes a speed direction and a speed magnitude, and it is also considered that the speed can be represented by a speed vector.

S204, predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle.

In this embodiment, after the avoidance flying speed of the unmanned aerial vehicle is determined, if the unmanned aerial vehicle flies at the avoidance flying speed, the maximum threat degree of the unmanned aerial vehicle to the aircraft from the current moment is predicted according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and the speed is kept unchanged. This maximum threat level may represent the level of risk posed by the drone to the aircraft.

In some embodiments, a smaller distance between the drone and the aircraft indicates a greater threat to the aircraft by the drone. Thus, the maximum threat level of the drone to the aircraft can be predicted by predicting the minimum distance between the drone and the aircraft. One possible implementation manner of the foregoing S204 is: predicting the minimum distance between the unmanned aerial vehicle and the aircraft from the current moment under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle; then, according to the minimum distance, determining a maximum threat level of the drone to the aircraft, which may be obtained by the following formula:

ρ_b,a＝-min||P_a(t+t₀)-P_b(t+t₀)||₂。

wherein, P_aIndicating the position of the aircraft, P_bIndicating the position of the drone, t₀Representing the current time, t + t₀From the current time t₀Time after the start, p_b,aThe maximum threat level of the unmanned aerial vehicle to the aircraft is represented, and can also be called as a maximum threat coefficient. As can be seen from the above formula, the maximum threat level is the negative value of the minimum distance, ρ_b,aThe larger the size, the more dangerous between the drone and the aircraft, ρ_b,aSmaller means safer between the drone and the aircraft.

And S205, executing collision prevention operation according to the maximum threat degree.

In this embodiment, after the maximum threat level of the unmanned aerial vehicle to the aircraft is predicted, the collision avoidance operation is executed according to the maximum threat level.

If the flight parameters of multiple aircraft can be obtained, in this embodiment, the maximum threat level of the drone to each aircraft can be predicted through the above S201 to S204, then a maximum value is determined according to the predicted maximum threat levels of the drone to all aircraft, and the maximum value is taken as the maximum threat level in S205, where the maximum value represents the maximum threat level of the drone to all aircraft.

In some embodiments, after the maximum threat degree is obtained, the maximum threat degree is compared with a preset threat degree, and if the maximum threat degree is greater than the preset threat degree, the unmanned aerial vehicle is controlled to fly at an avoidance flight speed, so that the unmanned aerial vehicle is away from the aircraft as soon as possible, the unmanned aerial vehicle is prevented from causing danger to the aircraft, and the aircraft is prevented from being interfered. If this embodiment is applied to unmanned aerial vehicle's control terminal, then control terminal sends the flight control instruction to unmanned aerial vehicle when confirming that the biggest threat degree is greater than the predetermined threat degree, the flight control instruction is used for controlling unmanned aerial vehicle adopts dodge flying speed and fly. If the maximum threat degree is less than or equal to the preset threat degree, the avoidance flying speed is not adopted for flying, prompt information can be displayed on a display device of a control terminal of the unmanned aerial vehicle, the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft, the threat degree can be graded in the embodiment, the threat degrees of different grades can be differentiated by different colors, and therefore the prompt information can represent the threat grade of the maximum threat degree by different colors to prompt a user to pay attention to avoidance. The prompt message may also prompt the distribution of the aircraft within the airspace surrounding the drone (e.g., flight location and flight direction, etc.). If this implementation is applied to among the unmanned aerial vehicle, then unmanned aerial vehicle sends the tip information to unmanned aerial vehicle's control terminal after confirming that the biggest threat degree is less than or equal to preset threat degree to control terminal shows this tip information on display device.

Alternatively, the preset threat level may be-2350, which means that the unmanned aerial vehicle is controlled to fly at the avoidance flying speed when the minimum distance between the unmanned aerial vehicle and the aircraft is predicted to be less than 2350 meters.

In some embodiments, if it is determined that the maximum threat level is greater than the preset threat level, it is also determined whether the distance between the drone and the ground is greater than a first safe distance, for example, 10 meters. If the distance on ground is greater than first safe distance, then control unmanned aerial vehicle and adopt to dodge flying speed and fly to make unmanned aerial vehicle keep away from the airborne vehicle as early as possible, avoid unmanned aerial vehicle to cause danger to the airborne vehicle, prevent to disturb the flight of airborne vehicle. If the distance between the unmanned aerial vehicle and the ground is smaller than or equal to the first safety distance, the unmanned aerial vehicle is not controlled to fly at an avoidance flying speed in order to prevent the unmanned aerial vehicle from flying in an area which is not close to the ground generally and generating sudden maneuver due to the fact that the unmanned aerial vehicle is not influenced by the aircraft when flying close to the ground; however, the present embodiment may control the drone to wait for receiving an operation instruction (e.g., a joystick amount input by a user) of the user and fly according to the operation instruction of the user, or control the drone to hover. The embodiment can also display prompt information on a display device of a control terminal of the unmanned aerial vehicle, wherein the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

In some embodiments, if it is determined that the maximum threat level is greater than the preset threat level, it is further determined whether the drone detects that an obstacle exists within a second safety distance ahead, where the second safety distance is, for example, 10 meters, and optionally, the drone may detect whether an obstacle exists within the second safety distance ahead through a vision sensor or a radar, or the like. If unmanned aerial vehicle detects that there is not the barrier in the place ahead second safe distance, then control unmanned aerial vehicle and adopt to dodge flying speed flight to make unmanned aerial vehicle keep away from the airborne vehicle as early as possible, avoid unmanned aerial vehicle to cause danger to the airborne vehicle, prevent to disturb the flight of airborne vehicle. If the unmanned aerial vehicle detects that an obstacle exists in the second safety distance in front and the obstacle can be an unmovable obstacle, the unmanned aerial vehicle is not controlled to fly at the avoidance flying speed, and the unmanned aerial vehicle is controlled to hover. This is because the existence of barrier, the aircraft generally will keep away from this barrier flight as far as possible, and can not be close to the barrier flight, so when unmanned aerial vehicle and barrier's distance is nearer, can think that unmanned aerial vehicle is less to the interference of aircraft, and unmanned aerial vehicle can not adopt dodging flight speed to fly, but control unmanned aerial vehicle hovers in order to avoid unmanned aerial vehicle collision barrier. The embodiment can also display prompt information on a display device of a control terminal of the unmanned aerial vehicle, wherein the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

In some embodiments, before performing S203, it is determined whether the distance between the drone and the ground is greater than a first safe distance. And if the distance between the unmanned aerial vehicle and the ground is greater than the first safety distance, starting an automatic aircraft avoidance function of the unmanned aerial vehicle, and executing the steps S203-S205. And if the distance between the unmanned aerial vehicle and the ground is less than or equal to the first safety distance, closing the automatic aircraft avoidance function of the unmanned aerial vehicle, and not executing the steps S203-S205. Therefore, the embodiment can determine whether to start the automatic aircraft avoidance function by judging whether the distance between the unmanned aerial vehicle and the ground is greater than the first safety distance, and execute S203-S205, so that the processing resources can be saved.

According to the control method of the unmanned aerial vehicle, the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle are obtained; determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle; predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle; and executing collision prevention operation according to the maximum threat degree. If the unmanned aerial vehicle is predicted to avoid flying by the aircraft, the threat degree of the unmanned aerial vehicle to the aircraft is predicted, and then collision prevention operation is executed, so that the unmanned aerial vehicle is ensured not to interfere normal flying of the aircraft from the current moment, and the flying safety of the aircraft is ensured.

In some embodiments, on the basis of the above embodiments, one possible implementation manner of the above S203 is: determining the avoidance flight speed from the maximum allowable flight speed of the drone in at least one spatial direction based on the displacement of the aircraft relative to the drone and the relative flight speed. Wherein the relative airspeed comprises a relative airspeed between a maximum allowable airspeed of the drone in each of the at least one spatial direction and an airspeed of an aircraft, the displacement determined by a flight position of the aircraft and a flight position of the drone, the displacement comprising a direction and a distance magnitude of the aircraft relative to the drone. That is, as shown in FIG. 3, according to the flight position (P) of the aircraft_a) And flight position (P) of the drone_b) Determining the displacement (P) of the aircraft relative to said drone_ab) (ii) a But also according to the flight speed (v) of the aircraft_a) Maximum permissible flight speed (v) in at least one spatial direction with an unmanned aerial vehicle_b) Determining a relative speed of flight (v)_ab) (ii) a According to the displacement (P) of the aircraft relative to the drone_ab) And the above-mentioned relative flying speed (v)_ab) And determining the maximum allowable flight speed in one space direction as the avoidance flight speed from the maximum allowable flight speeds of the unmanned aerial vehicle in at least one space direction. So that the drone can fly away from the aircraft with maximum allowable manoeuvrability.

Optionally, in an implementation, the avoidance flying speed may be determined from a maximum allowable flying speed of the drone in at least one spatial direction according to an angle between a displacement and the relative flying speed. As shown in fig. 3, if the maximum allowable speeds of the drones in the respective spatial directions are the same, the maximum allowable flight speeds in the respective spatial directions form a space body, such as a sphere, and it should be noted that, in general, the horizontal speed of some drones is greater than the ascending speed and the ascending speed is greater than the descending speed, the forward speed of some drones is greater than the vertical speed and the lateral speed, and there is no retreating speed, and in addition, the environmental factors at that time, such as the wind speed, are also considered, so that almost all drones have anisotropy in the speeds in the respective directions, and the space body may be an irregularly shaped space body. At this time, when the maximum allowable flight speed in a certain spatial direction, the relative flight speed between the maximum allowable flight speed in the spatial direction and the flight speed of the aircraft, and the displacement are coplanar, and the coplanarity is tangent to the surface of the spatial body, the included angle between the displacement and the relative flight speed is the largest, so that the maximum allowable flight speed in the spatial direction is the avoidance flight speed. If the unmanned aerial vehicle flies at the current moment at the avoiding flying speed, the minimum distance between the unmanned aerial vehicle and the aircraft is d_min。

In some embodiments, when the drone is enabled for visual obstacle avoidance, the maximum allowable airspeed of the drone in at least one spatial direction includes: maximum allowable airspeed in at least one spatial direction when visual obstacle avoidance is active. Optionally, under the condition, if the avoidance flying speed is adopted to execute the avoidance flying, the yaw angle of the unmanned aerial vehicle can be adjusted to be consistent with the horizontal movement direction of the unmanned aerial vehicle, and the unmanned aerial vehicle can still normally avoid the obstacle in the avoidance process.

In some embodiments, the maximum allowable airspeed of the drone in at least one spatial direction includes: a preset maximum speed in the direction of the preset space. General aircraft flight is in unmanned aerial vehicle's top, when confirming unmanned aerial vehicle's dodge flying speed, generally when carrying out the operation of dodging, can not control unmanned aerial vehicle flight to the top, consequently, should predetermine the last predetermined maximum speed that predetermines spatial direction can include the horizontal decurrent each spatial direction of unmanned aerial vehicle and predetermine maximum speed.

In some embodiments, one possible implementation manner of the foregoing S204 is: and predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed. The displacement of the drone relative to the aircraft is determined by a flight position of the aircraft and a flight position of the drone, the displacement of the drone relative to the aircraft including a direction and a distance magnitude of the drone relative to the aircraft.

According to the embodiment, the displacement of the unmanned aerial vehicle relative to the aircraft can be determined according to the flight position of the aircraft and the flight position of the unmanned aerial vehicle, the relative flight speed of the aircraft relative to the unmanned aerial vehicle can be determined according to the flight speed of the aircraft and the avoidance flight speed of the unmanned aerial vehicle, and then the maximum threat degree of the unmanned aerial vehicle to the aircraft is predicted under the condition that the unmanned aerial vehicle flies at the avoidance flight speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flight speed.

Optionally, in one implementation, it may be determined whether the drone is located in front of the aircraft based on a displacement of the drone relative to the aircraft and a speed of flight of the aircraft. When the unmanned aerial vehicle is positioned in front of the aircraft, predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed. When the unmanned aerial vehicle is located behind the aircraft, predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft. The area in front of the aircraft can be considered, among other things, as the field of view area of the pilot of the aircraft.

Optionally, in another implementation, it may be determined whether an included angle between the displacement of the drone relative to the aircraft and the flying speed of the aircraft is an obtuse angle according to the displacement of the drone relative to the aircraft and the flying speed of the aircraft. And when the included angle is an obtuse angle, predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft. When the included angle of the unmanned aerial vehicle relative to the aircraft is not an obtuse angle, predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed.

One possible implementation manner of determining whether the included angle between the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft is an obtuse angle is as follows: determining from the displacement of the drone relative to the aircraft and the speed of flight of the aircraftA value of (d); wherein, v_aRepresenting the speed of flight, P, of the aircraft at the current moment_baRepresenting the displacement of the drone relative to the aircraft at the current moment,representing said aircraftTranspose of flying speed. If it is notIs greater than 0, it is determined that the included angle is not an obtuse angle. If it is not

Is less than or equal to 0, the included angle is determined to be an obtuse angle.

Optionally, in the above mentioned case that it is predicted that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft, an implementation manner of the maximum threat level of the unmanned aerial vehicle to the aircraft is as follows: according to | | P_ba||₂Determining the maximum threat level, wherein P_baIs the displacement of the drone relative to the aircraft at the current moment. That is, when the drone is located behind the aircraft, or when the angle between the displacement of the drone relative to the aircraft and the flying speed of the aircraft is an obtuse angle, the minimum distance between the drone and the aircraft is the distance between the drone and the aircraft at the current time.

Optionally, one implementation manner of predicting the maximum threat level of the unmanned aerial vehicle to the aircraft when the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed in the above mentioned relation is as follows:

according to

Determining the maximum threat level, wherein P_baV displacement of the unmanned aerial vehicle relative to the aircraft for the present moment_abIs the relative airspeed of the aircraft relative to the evasive airspeed.

I.e. when the drone is located in front of the aircraft, or the displacement of the drone relative to the aircraft and the flight speed of the aircraftWhen the included angle therebetween is not an obtuse angle,the minimum distance between the unmanned aerial vehicle and the aircraft is the current moment.

Alternatively, in other embodiments, different from the above embodiments, the maximum threat degree is not predicted, but the minimum distance is predicted, and then the collision prevention operation is performed according to the minimum distance, which can be specifically shown in fig. 4. Fig. 4 is a flowchart of a control method for an unmanned aerial vehicle according to another embodiment of the present invention, and as shown in fig. 4, the method according to this embodiment may include:

s401, acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed.

S402, acquiring flight parameters of the unmanned aerial vehicle, wherein the flight parameters of the unmanned aerial vehicle comprise: a flight position.

In this embodiment, the specific implementation processes of S401 and S402 may refer to the related description in the embodiment shown in fig. 2, and are not described herein again.

S403, predicting the minimum distance between the unmanned aerial vehicle and the aircraft according to the flight parameters of the aircraft, the flight parameters of the unmanned aerial vehicle and the maximum allowable flight speed of the unmanned aerial vehicle in at least one space direction.

In this embodiment, the minimum distance between the unmanned aerial vehicle and the aircraft may be predicted when the unmanned aerial vehicle flies at the maximum allowable flight speed in at least one spatial direction and remains unchanged, respectively, according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

In a possible implementation manner, an avoidance flying speed can be determined from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the flying speed of the aircraft; the avoidance flight speed is one of maximum allowable flight speeds of the unmanned aerial vehicle in at least one spatial direction, and the avoidance flight speed is used for keeping the unmanned aerial vehicle away from the aircraft; and then predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying position and the flying speed of the aircraft and the flying position of the unmanned aerial vehicle. For a specific implementation process, reference may be made to the description in each embodiment described above, and details are not described here.

And S404, executing collision prevention operation according to the minimum distance.

In this embodiment, after the minimum distance between the unmanned aerial vehicle and the aircraft is predicted, the collision avoidance operation is performed according to the minimum distance. The smaller the minimum distance is, the larger the maximum threat degree of the unmanned aerial vehicle to the aircraft is, and the larger the minimum distance is, the smaller the maximum threat degree of the unmanned aerial vehicle to the aircraft is. For a specific implementation process, reference may be made to the description in each embodiment described above, and details are not described here.

According to the control method of the unmanned aerial vehicle, the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle are obtained; predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum allowable flight speed of the drone in at least one spatial direction; and executing collision prevention operation according to the minimum distance. According to the method, the possible minimum distance between the unmanned aerial vehicle and the aircraft is predicted, and then the collision prevention operation is executed, so that the unmanned aerial vehicle does not interfere with the normal flight of the aircraft from the current moment, and the flight safety of the aircraft is guaranteed.

The embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the computer storage medium may include some or all of the steps of the control method for the unmanned aerial vehicle in the foregoing embodiments.

Fig. 5 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 5, the control device 500 of the unmanned aerial vehicle according to this embodiment may include: a memory 501 and a processor 502. The memory 501 and the processor 502 are connected by a bus.

The Processor 502 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 501 is used for storing codes for executing a control method of the drone.

In one implementation, the processor 502, configured to call the code stored in the memory 501, performs: acquiring flight parameters of an aircraft, wherein the flight parameters comprise: flight position, flight speed; obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position; predicting a minimum distance between the drone and the aircraft according to flight parameters of the aircraft, flight parameters of the drone, and a maximum allowable flight speed of the drone in at least one spatial direction; performing collision prevention operation according to the minimum distance; wherein the speed comprises a speed direction and a speed magnitude.

Optionally, the processor 502 is specifically configured to: determining an avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the flying speed of the aircraft; the avoidance flight speed is one of maximum allowable flight speeds of the unmanned aerial vehicle in at least one spatial direction, and the avoidance flight speed is used for keeping the unmanned aerial vehicle away from the aircraft; and predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying position and the flying speed of the aircraft and the flying position of the unmanned aerial vehicle.

Optionally, the processor 502 is specifically configured to: determining the evasive flight velocity from the maximum allowable flight velocity of the drone in at least one spatial direction as a function of the displacement of the aircraft relative to the drone and the relative flight velocity. Wherein the relative airspeed comprises a relative airspeed between a maximum allowable airspeed of the drone in the at least one spatial direction and an airspeed of the aircraft; the displacement is determined by a flight position of the aircraft and a flight position of the drone, the displacement including a direction and a distance magnitude of the aircraft relative to the drone.

Optionally, the processor 502 is specifically configured to: and determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the included angle between the displacement and the relative flying speed. And the avoiding flying speed enables the relative flying speed between the flying speed of the aircraft and the avoiding flying speed and the included angle between the displacement to be the largest.

Optionally, the processor 502 is specifically configured to: and predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed. Wherein the displacement of the drone relative to the aircraft is determined by the flight position of the aircraft and the flight position of the drone, the displacement of the drone relative to the aircraft including the direction and distance magnitude of the drone relative to the aircraft.

Optionally, the processor 502 is specifically configured to: determining whether the drone is positioned in front of the aircraft based on the displacement of the drone relative to the aircraft and the speed of flight of the aircraft. Predicting the minimum distance based on a displacement of the drone relative to the aircraft and a relative airspeed of the aircraft relative to the avoidance airspeed when the drone is forward of the aircraft; and/or, when the drone is located behind the aircraft, predicting the minimum distance from a displacement of the drone relative to the aircraft.

Optionally, the processor 502 is specifically configured to: and determining whether the included angle between the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft is an obtuse angle or not according to the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft. When the included angle is an obtuse angle, predicting the minimum distance according to the displacement of the unmanned aerial vehicle relative to the aircraft; and/or, when the included angle is not an obtuse angle, predicting the minimum distance according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoiding flying speed.

Optionally, the processor 502 is specifically configured to: when the minimum distance is smaller than a preset distance, controlling the unmanned aerial vehicle to fly at the avoidance flying speed; or, the unmanned aerial vehicle sends a flight control instruction, and the flight control instruction is used for controlling the unmanned aerial vehicle to adopt the avoidance flight speed for flying.

Optionally, the processor 502 is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is greater than a first safe distance and the minimum distance is less than a preset distance, the unmanned aerial vehicle is controlled to adopt the avoidance flight speed for flying.

Optionally, the processor 502 is further configured to: when the minimum distance is greater than or equal to the preset distance, prompt information is displayed on a display device of a control terminal of the unmanned aerial vehicle, or the prompt information is sent to the control terminal of the unmanned aerial vehicle. The prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

Optionally, the processor 502 is specifically configured to: and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the minimum distance is smaller than a preset distance, controlling the unmanned aerial vehicle to hover.

Optionally, the processor 502 is specifically configured to: and when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, predicting the minimum distance between the unmanned aerial vehicle and the aircraft according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

Optionally, when the unmanned aerial vehicle starts the visual obstacle avoidance function, the maximum allowable flight speed of the unmanned aerial vehicle in at least one spatial direction is: maximum allowable flight speed in at least one spatial direction when visual obstacle avoidance is effective.

Optionally, the maximum allowable airspeed of the drone in at least one spatial direction includes: a preset maximum speed in the direction of the preset space.

Optionally, the processor 502 is specifically configured to: acquiring flight parameters of an aircraft released through the Internet; and/or acquiring flight parameters of the aircraft detected by the broadcast automatic correlation monitoring equipment on the unmanned aerial vehicle.

In another implementation, the processor 502 is configured to call the code stored in the memory 501, and perform: acquiring flight parameters of an aircraft, wherein the flight parameters of the aircraft comprise: flight position, flight speed; obtain unmanned aerial vehicle's flight parameter, unmanned aerial vehicle's flight parameter includes: a flight position; determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle; predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying parameters of the aircraft and the flying parameters of the unmanned aerial vehicle; executing collision prevention operation according to the maximum threat degree; wherein the speed comprises a speed direction and a speed magnitude.

Optionally, the processor 502 is specifically configured to: and determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the included angle between the displacement and the relative flying speed. And the avoiding flying speed enables the relative flying speed between the flying speed of the aircraft and the avoiding flying speed to be the largest, and the included angle between the relative flying speed and the displacement is the largest.

Optionally, the processor 502 is specifically configured to: and predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed. The displacement of the drone relative to the aircraft is determined by a flight position of the aircraft and a flight position of the drone, the displacement of the drone relative to the aircraft including a direction and a distance magnitude of the drone relative to the aircraft.

Optionally, the processor 502 is specifically configured to: determining whether the drone is positioned in front of the aircraft based on the displacement of the drone relative to the aircraft and the speed of flight of the aircraft. Predicting the maximum threat level based on a displacement of the drone relative to the aircraft and a relative airspeed of the aircraft relative to the avoidance airspeed when the drone is forward of the aircraft; and/or predicting the maximum threat level based on a displacement of the drone relative to the aircraft when the drone is located aft of the aircraft.

Optionally, the processor 502 is specifically configured to: and determining whether the included angle between the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft is an obtuse angle or not according to the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft. When the included angle is an obtuse angle, predicting the maximum threat degree according to the displacement of the unmanned aerial vehicle relative to the aircraft; and/or, when the included angle is not an obtuse angle, predicting the maximum threat level according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoiding flying speed.

Optionally, when the drone activates the visual obstacle avoidance function, the maximum allowable flight speed of the drone in at least one spatial direction includes: maximum allowable airspeed in at least one spatial direction when visual obstacle avoidance is active.

Optionally, the processor 502 is specifically configured to: when the maximum threat degree is larger than a preset threat degree, controlling the unmanned aerial vehicle to fly at the avoidance flying speed; or, the unmanned aerial vehicle sends a flight control instruction, and the flight control instruction is used for controlling the unmanned aerial vehicle to adopt the avoidance flight speed for flying.

Optionally, the processor 502 is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance and the maximum threat degree is larger than a preset threat degree, the unmanned aerial vehicle is controlled to adopt the avoidance flying speed to fly.

Optionally, the processor 502 is further configured to: when the maximum threat degree is less than or equal to a preset threat degree, displaying prompt information on a display device of a control terminal of the unmanned aerial vehicle, or sending the prompt information to the control terminal of the unmanned aerial vehicle; the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

Optionally, the processor 502 is specifically configured to: and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the maximum threat degree is greater than a preset threat degree, controlling the unmanned aerial vehicle to hover.

Optionally, the processor 502 is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

Optionally, the processor 502 is specifically configured to: predicting a minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged; and determining the maximum threat degree according to the minimum distance.

Optionally, the processor 502 is specifically configured to: acquiring flight parameters of an aircraft released through the Internet; and/or acquiring flight parameters of the aircraft received by the broadcast type automatic correlation monitoring equipment on the unmanned aerial vehicle.

The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments of the present invention, and the implementation principles and technical effects are similar, which are not described herein again.

Fig. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 6, the unmanned aerial vehicle 600 according to this embodiment may include: the control device 601 of the drone. The control device 601 of the unmanned aerial vehicle may adopt the structure of the device embodiment shown in fig. 5, and accordingly, the technical solutions of the above method embodiments of the present invention may be executed, which have similar implementation principles and technical effects, and are not described herein again. Optionally, the drone of this embodiment may include a propeller (not shown in the figure), and the control device 601 of the drone may control the drone to fly at the avoidance flying speed or control the drone to hover by controlling rotation of the propeller.

In another embodiment, the present invention further provides a ground control device, where the ground control device is configured to control an unmanned aerial vehicle, and the ground control device may include a control device of the unmanned aerial vehicle, and the control device of the unmanned aerial vehicle may adopt the structure of the device embodiment shown in fig. 5, and accordingly, the technical solutions of the above method embodiments of the present invention may be implemented, and the implementation principles and the technical effects thereof are similar, and are not described herein again.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

performing collision prevention operation according to the minimum distance;

wherein the speed comprises a speed direction and a speed magnitude.

2. The method of claim 1,

the predicting a minimum distance between the drone and the aircraft based on flight parameters of the aircraft, flight parameters of the drone, and a maximum allowable flight speed of the drone in at least one spatial direction, includes:

determining an avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the flying speed of the aircraft; the avoidance flight speed is one of maximum allowable flight speeds of the unmanned aerial vehicle in at least one spatial direction, and the avoidance flight speed is used for keeping the unmanned aerial vehicle away from the aircraft;

and predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the flying position and the flying speed of the aircraft and the flying position of the unmanned aerial vehicle.

3. The method of claim 2, wherein determining an avoidance airspeed from a maximum allowable airspeed of the drone in at least one spatial direction as a function of the airspeed of the aircraft comprises:

determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one spatial direction according to the displacement of the aircraft relative to the unmanned aerial vehicle and the relative flying speed;

wherein the relative airspeed comprises a relative airspeed between a maximum allowable airspeed of the drone in the at least one spatial direction and an airspeed of the aircraft; the displacement is determined by a flight position of the aircraft and a flight position of the drone, the displacement including a direction and a distance magnitude of the aircraft relative to the drone.

4. The method of claim 3,

determining the evasive flight velocity from the maximum allowable flight velocity of the drone in at least one spatial direction as a function of the displacement of the aircraft relative to the drone and the relative flight velocity, comprising:

determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the included angle between the displacement and the relative flying speed;

and the avoiding flying speed enables the relative flying speed between the flying speed of the aircraft and the avoiding flying speed and the included angle between the displacement to be the largest.

5. The method according to any one of claims 2 to 4,

the predicting, according to the flight position and the flight speed of the aircraft and the flight position of the unmanned aerial vehicle, the minimum distance between the unmanned aerial vehicle and the aircraft when the unmanned aerial vehicle flies at an avoidance flight speed and keeps the speed unchanged, includes:

predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed;

wherein the displacement of the drone relative to the aircraft is determined by the flight position of the aircraft and the flight position of the drone, the displacement of the drone relative to the aircraft including the direction and distance magnitude of the drone relative to the aircraft.

6. The method of claim 5, wherein predicting the minimum distance between the drone and the aircraft when the drone is flying at the avoidance flight speed and the speed is maintained constant based on the displacement of the drone relative to the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed comprises:

determining whether the drone is positioned in front of the aircraft based on the displacement of the drone relative to the aircraft and the speed of flight of the aircraft;

predicting the minimum distance based on a displacement of the drone relative to the aircraft and a relative airspeed of the aircraft relative to the avoidance airspeed when the drone is forward of the aircraft; and/or the presence of a gas in the gas,

predicting the minimum distance based on a displacement of the drone relative to the aircraft when the drone is located behind the aircraft.

7. The method of claim 5, wherein predicting the minimum distance between the drone and the aircraft when the drone is flying at the avoidance flight speed and the speed is maintained constant based on the displacement of the drone relative to the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed comprises:

determining whether an included angle between the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft is an obtuse angle according to the displacement of the unmanned aerial vehicle relative to the aircraft and the flying speed of the aircraft;

when the included angle is an obtuse angle, predicting the minimum distance according to the displacement of the unmanned aerial vehicle relative to the aircraft; and/or the presence of a gas in the gas,

and when the included angle is not an obtuse angle, predicting the minimum distance according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoiding flying speed.

8. The method according to any one of claims 2-7, wherein performing collision prevention operations according to the minimum distance comprises:

when the minimum distance is smaller than a preset distance, controlling the unmanned aerial vehicle to fly at the avoidance flying speed; or, the unmanned aerial vehicle sends a flight control instruction, and the flight control instruction is used for controlling the unmanned aerial vehicle to adopt the avoidance flight speed for flying.

9. The method of claim 8, wherein controlling the drone to fly at the avoidance flight speed when the minimum distance is less than a preset distance comprises:

when the distance between the unmanned aerial vehicle and the ground is greater than a first safe distance and the minimum distance is less than a preset distance, the unmanned aerial vehicle is controlled to adopt the avoidance flight speed for flying.

10. The method of claim 8 or 9, further comprising:

when the minimum distance is greater than or equal to the preset distance, displaying prompt information on a display device of a control terminal of the unmanned aerial vehicle, or sending the prompt information to the control terminal of the unmanned aerial vehicle;

the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

11. The method according to any one of claims 1-7, wherein performing collision prevention operations according to the minimum distance comprises:

and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the minimum distance is smaller than a preset distance, controlling the unmanned aerial vehicle to hover.

12. The method of any of claims 1-11, wherein predicting the minimum distance between the drone and the aircraft based on flight parameters of the aircraft and flight parameters of the drone comprises:

and when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, predicting the minimum distance between the unmanned aerial vehicle and the aircraft according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

13. The method of any of claims 1-12, wherein when the drone is enabled for visual obstacle avoidance, the maximum allowable flight speed of the drone in at least one spatial direction is: maximum allowable flight speed in at least one spatial direction when visual obstacle avoidance is effective.

14. The method of any of claims 1-12, wherein the maximum allowable airspeed of the drone in at least one spatial direction comprises: a preset maximum speed in the direction of the preset space.

15. The method according to any one of claims 1 to 14, wherein the acquiring flight parameters of the aircraft comprises:

acquiring flight parameters of an aircraft released through the Internet; and/or the presence of a gas in the gas,

acquiring flight parameters of the aircraft detected by the broadcast type automatic correlation monitoring equipment on the unmanned aerial vehicle.

16. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

wherein the speed comprises a speed direction and a speed magnitude.

17. The method of claim 16, wherein determining the avoidance flight speed of the drone from the flight parameters of the aircraft and the flight parameters of the drone comprises:

18. The method of claim 17,

and the avoiding flying speed enables the relative flying speed between the flying speed of the aircraft and the avoiding flying speed to be the largest, and the included angle between the relative flying speed and the displacement is the largest.

19. The method according to any one of claims 16 to 18,

the predicting, according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle, the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance speed and keeps the speed unchanged, includes:

predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed;

the displacement of the drone relative to the aircraft is determined by a flight position of the aircraft and a flight position of the drone, the displacement of the drone relative to the aircraft including a direction and a distance magnitude of the drone relative to the aircraft.

20. The method of claim 19, wherein predicting a maximum threat level of the drone to the aircraft based on the displacement of the drone relative to the aircraft and the relative airspeed of the aircraft relative to the avoidance airspeed with the drone flying at the avoidance airspeed and while the airspeed remains constant, comprises:

predicting the maximum threat level based on a displacement of the drone relative to the aircraft and a relative airspeed of the aircraft relative to the avoidance airspeed when the drone is forward of the aircraft; and/or the presence of a gas in the gas,

predicting the maximum threat level based on a displacement of the drone relative to the aircraft when the drone is located aft of the aircraft.

21. The method of claim 19, wherein predicting a maximum threat level of the drone to the aircraft when the drone is flying at the avoidance airspeed and is held at a constant speed based on the displacement of the drone relative to the aircraft and the relative airspeed of the aircraft relative to the avoidance airspeed comprises:

when the included angle is an obtuse angle, predicting the maximum threat degree according to the displacement of the unmanned aerial vehicle relative to the aircraft; and/or the presence of a gas in the gas,

and when the included angle is not an obtuse angle, predicting the maximum threat degree according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoiding flying speed.

22. The method of any of claims 17-21, wherein when the drone is enabled for visual obstacle avoidance, the maximum allowable airspeed of the drone in at least one spatial direction comprises: maximum allowable airspeed in at least one spatial direction when visual obstacle avoidance is active.

23. The method of any of claims 17-21, wherein the maximum allowable airspeed of the drone in at least one spatial direction comprises: a preset maximum speed in the direction of the preset space.

24. The method according to any one of claims 16-23, wherein said performing a collision prevention operation based on said maximum threat level comprises:

when the maximum threat degree is larger than a preset threat degree, controlling the unmanned aerial vehicle to fly at the avoidance flying speed; or, the unmanned aerial vehicle sends a flight control instruction, and the flight control instruction is used for controlling the unmanned aerial vehicle to adopt the avoidance flight speed for flying.

25. The method of claim 24, wherein said controlling the drone to fly at the avoidance rate of flight when the maximum threat level is greater than a preset threat level comprises:

when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance and the maximum threat degree is larger than a preset threat degree, the unmanned aerial vehicle is controlled to adopt the avoidance flying speed to fly.

26. The method of claim 24 or 25, further comprising:

when the maximum threat degree is less than or equal to a preset threat degree, displaying prompt information on a display device of a control terminal of the unmanned aerial vehicle, or sending the prompt information to the control terminal of the unmanned aerial vehicle;

27. The method according to any one of claims 16-23, wherein said performing a collision prevention operation based on said maximum threat level comprises:

and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the maximum threat degree is greater than a preset threat degree, controlling the unmanned aerial vehicle to hover.

28. The method of any of claims 16-27, wherein determining the avoidance flight speed of the drone based on the flight parameters of the aircraft and the flight parameters of the drone comprises:

when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

29. The method of any of claims 16-28, wherein predicting a maximum threat level between the drone and the aircraft comprises:

predicting a minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged;

and determining the maximum threat degree according to the minimum distance.

30. The method of any one of claims 16-29, wherein the obtaining flight parameters of the aircraft comprises:

and acquiring flight parameters of the aircraft received by the broadcast type automatic correlation monitoring equipment on the unmanned aerial vehicle.

31. A control device of an unmanned aerial vehicle, comprising: a memory and a processor;

32. The apparatus of claim 31, wherein the processor is specifically configured to:

33. The apparatus of claim 32, wherein the processor is specifically configured to: determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one spatial direction according to the displacement of the aircraft relative to the unmanned aerial vehicle and the relative flying speed;

34. The apparatus of claim 33, wherein the processor is specifically configured to: determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the included angle between the displacement and the relative flying speed;

35. The apparatus according to any one of claims 32-34, wherein the processor is specifically configured to: predicting the minimum distance between the unmanned aerial vehicle and the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed;

36. The apparatus of claim 35, wherein the processor is specifically configured to:

37. The apparatus of claim 35, wherein the processor is specifically configured to:

38. The apparatus according to any one of claims 32-37, wherein the processor is specifically configured to:

39. The apparatus of claim 38, wherein the processor is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is greater than a first safe distance and the minimum distance is less than a preset distance, the unmanned aerial vehicle is controlled to adopt the avoidance flight speed for flying.

40. The apparatus of claim 38 or 39, wherein the processor is further configured to: when the minimum distance is greater than or equal to the preset distance, displaying prompt information on a display device of a control terminal of the unmanned aerial vehicle, or sending the prompt information to the control terminal of the unmanned aerial vehicle;

41. The apparatus according to any one of claims 31-37, wherein the processor is specifically configured to: and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the minimum distance is smaller than a preset distance, controlling the unmanned aerial vehicle to hover.

42. The apparatus according to any one of claims 31-41, wherein the processor is specifically configured to: and when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, predicting the minimum distance between the unmanned aerial vehicle and the aircraft according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

43. The apparatus of any one of claims 31-42, wherein when the drone is enabled for visual obstacle avoidance, the maximum allowable flight speed of the drone in at least one spatial direction is: maximum allowable flight speed in at least one spatial direction when visual obstacle avoidance is effective.

44. The apparatus of any of claims 31-42, wherein the maximum allowable airspeed of the drone in at least one spatial direction comprises: a preset maximum speed in the direction of the preset space.

45. The apparatus according to any one of claims 31-44, wherein the processor is specifically configured to: acquiring flight parameters of an aircraft released through the Internet; and/or acquiring flight parameters of the aircraft detected by the broadcast automatic correlation monitoring equipment on the unmanned aerial vehicle.

46. A control device of an unmanned aerial vehicle, comprising: a memory and a processor;

47. The apparatus of claim 46, wherein the processor is specifically configured to: determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one spatial direction according to the displacement of the aircraft relative to the unmanned aerial vehicle and the relative flying speed;

48. The apparatus of claim 47, wherein the processor is specifically configured to: determining the avoidance flying speed from the maximum allowable flying speed of the unmanned aerial vehicle in at least one space direction according to the included angle between the displacement and the relative flying speed;

49. The apparatus according to any one of claims 46-48, wherein the processor is specifically configured to: predicting the maximum threat degree of the unmanned aerial vehicle to the aircraft under the condition that the unmanned aerial vehicle flies at the avoidance flying speed and keeps the speed unchanged according to the displacement of the unmanned aerial vehicle relative to the aircraft and the relative flying speed of the aircraft relative to the avoidance flying speed;

50. The apparatus of claim 49, wherein the processor is specifically configured to:

51. The apparatus of claim 49, wherein the processor is specifically configured to:

52. The apparatus of any one of claims 47-51, wherein when the drone is enabled for visual obstacle avoidance, the maximum allowable airspeed of the drone in at least one spatial direction includes: maximum allowable airspeed in at least one spatial direction when visual obstacle avoidance is active.

53. The apparatus of any one of claims 47-51, wherein the maximum allowable airspeed of the drone in at least one spatial direction includes: a preset maximum speed in the direction of the preset space.

54. The apparatus according to any one of claims 46-53, wherein the processor is specifically configured to: when the maximum threat degree is larger than a preset threat degree, controlling the unmanned aerial vehicle to fly at the avoidance flying speed; or, the unmanned aerial vehicle sends a flight control instruction, and the flight control instruction is used for controlling the unmanned aerial vehicle to adopt the avoidance flight speed for flying.

55. The apparatus according to claim 54, wherein the processor is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance and the maximum threat degree is larger than a preset threat degree, the unmanned aerial vehicle is controlled to adopt the avoidance flying speed to fly.

56. The apparatus according to claim 54 or 55, wherein the processor is further configured to: when the maximum threat degree is less than or equal to a preset threat degree, displaying prompt information on a display device of a control terminal of the unmanned aerial vehicle, or sending the prompt information to the control terminal of the unmanned aerial vehicle; the prompt information is used for prompting the threat degree of the unmanned aerial vehicle to the aircraft.

57. The apparatus according to any one of claims 46-53, wherein the processor is specifically configured to: and when the unmanned aerial vehicle detects that an obstacle exists in a second safety distance in front and the maximum threat degree is greater than a preset threat degree, controlling the unmanned aerial vehicle to hover.

58. The apparatus according to any one of claims 46-57, wherein the processor is specifically configured to: when the distance between the unmanned aerial vehicle and the ground is larger than a first safety distance, determining the avoiding flight speed of the unmanned aerial vehicle according to the flight parameters of the aircraft and the flight parameters of the unmanned aerial vehicle.

59. The apparatus according to any one of claims 46-58, wherein the processor is specifically configured to:

and determining the maximum threat degree according to the minimum distance.

60. The apparatus according to any one of claims 46-59, wherein the processor is specifically configured to: acquiring flight parameters of an aircraft released through the Internet; and/or acquiring flight parameters of the aircraft received by the broadcast type automatic correlation monitoring equipment on the unmanned aerial vehicle.

61. An unmanned aerial vehicle, comprising: a control apparatus for a drone according to any one of claims 31 to 45, or a drone according to any one of claims 46 to 60.