CN116897324A

CN116897324A - Unmanned aerial vehicle control method and device and unmanned aerial vehicle

Info

Publication number: CN116897324A
Application number: CN202280007856.4A
Authority: CN
Inventors: 艾强; 鲁通达; 马亚南
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-02-01
Filing date: 2021-02-01
Publication date: 2023-10-17
Also published as: WO2022160325A1

Abstract

Unmanned aerial vehicle control method and device and unmanned aerial vehicle, wherein the method comprises the following steps: before the unmanned aerial vehicle takes off, acquiring a spacing distance (101) between a flight blade of the unmanned aerial vehicle and surrounding obstacles; controlling the unmanned aerial vehicle to execute a take-off operation (102) if the separation distance is greater than a preset distance threshold; under the condition that the interval distance is smaller than or equal to a preset distance threshold value, the unmanned aerial vehicle is controlled to stop taking-off operation (103), and the embodiment of the application can detect the interval distance between the flight blades of the unmanned aerial vehicle and surrounding obstacles between taking-off of the unmanned aerial vehicle, determine whether the current unmanned aerial vehicle is in a safe taking-off environment according to the interval distance, reduce the probability of occurrence of the phenomenon of 'frying' caused by collision between the flight blades and the obstacles when the unmanned aerial vehicle takes-off, and the whole scheme does not influence the aerodynamic performance of the unmanned aerial vehicle and does not limit the taking-off zone of the unmanned aerial vehicle by people.

Description

Unmanned aerial vehicle control method and device and unmanned aerial vehicle

Technical Field

The application relates to the technical field of unmanned aerial vehicle control, in particular to a control method and device for an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

Along with the development of unmanned aerial vehicle technology and the popularization of unmanned aerial vehicle in masses, unmanned aerial vehicle is originally the machine that can only fly by professional personage, has entered into everywhere, because ordinary people lack professional flight skill, the phenomenon of "frying machine" often appears when controlling unmanned aerial vehicle, causes the potential safety hazard.

The frying machine is damaged due to the fact that the unmanned aerial vehicle collides with an obstacle when taking off, and in the related technology, the unmanned aerial vehicle takes off by manually selecting an open barrier-free zone, so that the unmanned aerial vehicle is prevented from taking off in a narrow area in the wild or in a room. In addition, protection devices such as a fender and a protective cover can be added to the wings of the unmanned aerial vehicle to increase the take-off safety of the unmanned aerial vehicle.

However, in the current scheme, limiting the take-off zone of the unmanned aerial vehicle by people can lead to limited applicable scenes of the unmanned aerial vehicle, reduce popularity of the unmanned aerial vehicle, and reduce aerodynamic performance of the unmanned aerial vehicle by adding a protection device to wings of the unmanned aerial vehicle.

Disclosure of Invention

The application provides a control method and device for an unmanned aerial vehicle and the unmanned aerial vehicle, which can solve the problems that the popularity of the unmanned aerial vehicle is reduced and the pneumatic performance of the unmanned aerial vehicle is reduced in the prior art.

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

before the unmanned aerial vehicle takes off, acquiring the interval distance between the flying blades of the unmanned aerial vehicle and surrounding obstacles;

controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value;

and controlling the unmanned aerial vehicle to stop taking off operation under the condition that the interval distance is smaller than or equal to a preset distance threshold value.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle control apparatus, including: the device comprises an acquisition module and a processing module;

the acquisition module is used for acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles before the unmanned aerial vehicle takes off;

the processing module is used for:

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, which is characterized by comprising an unmanned aerial vehicle control device, a control apparatus, a power system, a vision sensor, and a distance sensor;

The unmanned aerial vehicle control device receives the data collected by the vision sensor and the distance sensor and sends an instruction to the control equipment.

In a fourth aspect, the present application provides a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of the above aspect.

In a fifth aspect, the application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the above aspect.

In the embodiment of the application, the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles is acquired before the unmanned aerial vehicle takes off; controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value; under the condition that the interval distance is smaller than or equal to a preset distance threshold value, the unmanned aerial vehicle is controlled to stop taking off, the embodiment of the application can detect the interval distance between the flight blades of the unmanned aerial vehicle and surrounding obstacles during taking off of the unmanned aerial vehicle, and determine whether the current unmanned aerial vehicle is in a safe taking off environment according to the interval distance, so that the probability of occurrence of a phenomenon of "frying" caused by collision between the flight blades and the obstacles during taking off of the unmanned aerial vehicle is reduced, the pneumatic performance of the unmanned aerial vehicle is not influenced by the whole scheme, and the taking-off zone of the unmanned aerial vehicle is not limited by people.

Drawings

Fig. 1 is a system architecture diagram corresponding to an apparatus control method provided in an embodiment of the present application;

FIG. 2 is a schematic top view of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 3 is a flow chart of a method of unmanned aerial vehicle control provided by an embodiment of the present application;

FIG. 4 is a flowchart of an unmanned aerial vehicle control method according to an embodiment of the present application;

fig. 5 is a schematic top view of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 6 is a schematic view of an environment in which an unmanned aerial vehicle according to an embodiment of the present application is located;

FIG. 7 is a schematic diagram of an early warning notification interface according to an embodiment of the present application;

FIG. 8 is a schematic diagram of another warning notification interface provided by an embodiment of the present application;

FIG. 9 is a block diagram of an unmanned aerial vehicle control device provided by an embodiment of the present application;

fig. 10 is a block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

In the embodiment of the present application, referring to fig. 1, a system architecture diagram corresponding to an apparatus control method provided in the embodiment of the present application is shown, including: the unmanned aerial vehicle 10, the control device 20, the device control 20 is connected with the unmanned aerial vehicle 10 by wire or wireless, and the device control 20 can acquire data, such as operation parameters, control instructions and the like, and control the unmanned aerial vehicle 10 to operate through processing the data. It should be noted that the device control 20 may be integrally provided on the unmanned aerial vehicle 10, or may be separately provided independent of the unmanned aerial vehicle 10, which is not limited in the embodiment of the present application.

The takeoff conditions of the unmanned aerial vehicle include: whether the unmanned aerial vehicle is in a non-forbidden zone, whether the inclination angle of the unmanned aerial vehicle is too large, and whether obstacles interfering with take-off exist around the unmanned aerial vehicle, wherein whether the obstacles interfering with take-off exist around the unmanned aerial vehicle is an important factor affecting the take-off of the unmanned aerial vehicle to appear as a "frying machine", because once the obstacles interfering with the flight blades exist around the unmanned aerial vehicle, the phenomenon of "frying machine" appears as soon as the flight blades rotate to touch the obstacles, resulting in machine damage.

In an embodiment of the application, reference is made to fig. 2, which shows a schematic top view of the structure of an unmanned aerial vehicle. The unmanned aerial vehicle 10 may include a plurality of flight paddles 11, the flight paddles 11 use a driving motor 12 as a center, rotate under the driving of the driving motor 12, and may be provided with a distance sensor 13 on the driving motor 12, where the distance sensor 13 may detect the distance between the surrounding obstacle and the distance sensor 13, and the distance sensor 13 is not interfered by the light intensity in the environment, and may work around the clock, for example, the distance sensor 13 may be an infrared distance sensor, a laser radar, and the like.

Specifically, in the embodiment of the present application, before the unmanned aerial vehicle 10 takes off, the distance sensor 13 may sense the surrounding obstacle 30, and collect the distance between the flight blade 11 of the unmanned aerial vehicle 10 and the surrounding obstacle 30, and send the distance to the control device 20, where the flight blade 11 rotates around the driving motor 12, and the end of the flight blade 11 forms a rotation circle, and the radius of the rotation circle is the rotation radius of the flight blade, and the difference between the initial distance between the distance sensor 13 and the obstacle 30 collected by the distance sensor 13 disposed on the driving motor 12 and the rotation radius is the distance between the flight blade 11 driven by the driving motor 12 and the obstacle 30.

The control device 20 may determine that the obstacle 30 around the unmanned aerial vehicle 10 does not interfere with the normal operation of the flight blade 11 and control the unmanned aerial vehicle 10 to perform the takeoff operation if the separation distance is greater than a preset distance threshold; the control device 20 may determine that the obstacle 30 around the unmanned aerial vehicle 10 may interfere with the flight blade 11 when the separation distance is less than or equal to the preset distance threshold, so that the "frying" probability is greatly improved, and the control device 20 may control the unmanned aerial vehicle 10 to stop the takeoff operation, wait for the danger to be eliminated, and then operate the unmanned aerial vehicle, so as to improve the flight safety.

Fig. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present application, where, as shown in fig. 3, the method may include:

step 101, acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles before the unmanned aerial vehicle takes off.

Whether an obstacle interfering with take-off exists around the unmanned aerial vehicle is an important factor affecting the take-off of the unmanned aerial vehicle to appear as a "frying" phenomenon occurs as soon as an obstacle interfering with the flight blades exists around the unmanned aerial vehicle, the flight blades rotate to touch the obstacle, resulting in machine damage.

In an embodiment of the present application, referring to fig. 2, the unmanned aerial vehicle 10 may include a plurality of flight blades 11, the flight blades 11 rotate around a driving motor 12, and a distance sensor 13 may be disposed on the driving motor 12, and the distance sensor 13 may detect a distance between an obstacle existing around and the distance sensor 13.

And 102, controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value.

And step 103, controlling the unmanned aerial vehicle to stop taking off operation under the condition that the interval distance is smaller than or equal to a preset distance threshold value.

In the embodiment of the present application, referring to fig. 1 and 2, the control device 20 may determine that the obstacle 30 around the unmanned aerial vehicle 10 does not interfere with the normal operation of the flight blade 11 and control the unmanned aerial vehicle 10 to perform the take-off operation if the separation distance is greater than the preset distance threshold; the control device 20 may determine that the obstacle 30 around the unmanned aerial vehicle 10 may interfere with the flight blade 11 when the separation distance is less than or equal to the preset distance threshold, so that the "frying" probability is greatly improved, at this time, the control device 20 may control the unmanned aerial vehicle 10 to stop the takeoff operation, wait for the danger to be eliminated, and then operate the unmanned aerial vehicle, so as to improve the flight safety.

In summary, according to the unmanned aerial vehicle control method provided by the embodiment of the application, the interval distance between the flight blade of the unmanned aerial vehicle and surrounding obstacles is obtained before the unmanned aerial vehicle takes off; controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value; under the condition that the interval distance is smaller than or equal to a preset distance threshold value, the unmanned aerial vehicle is controlled to stop taking off, the embodiment of the application can detect the interval distance between the flight blades of the unmanned aerial vehicle and surrounding obstacles during taking off of the unmanned aerial vehicle, and determine whether the current unmanned aerial vehicle is in a safe taking off environment according to the interval distance, so that the probability of occurrence of a phenomenon of "frying" caused by collision between the flight blades and the obstacles during taking off of the unmanned aerial vehicle is reduced, the pneumatic performance of the unmanned aerial vehicle is not influenced by the whole scheme, and the taking-off zone of the unmanned aerial vehicle is not limited by people.

Fig. 4 is a specific flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 4, the method may include:

step 201, determining a scene where the unmanned aerial vehicle is currently located through the image acquired by the vision sensor.

In an embodiment of the present application, referring to fig. 2, the unmanned aerial vehicle 10 may further be provided with a vision sensor 14, where the vision sensor 14 may be a monocular or multi-ocular camera device, and may collect images of the surrounding environment of the unmanned aerial vehicle 10.

In this step, the vision sensor may acquire an image of the surroundings of the unmanned aerial vehicle 10 before the unmanned aerial vehicle takes off and send the image to the control device for the control device to determine the scene in which the unmanned aerial vehicle is currently located by analyzing the image. The control device may be provided with a deep learning module, and identify the type of the scene in which the unmanned aerial vehicle is currently located in the image based on a deep learning algorithm.

Step 202, if the scene is a scene with the ambient brightness lower than the preset brightness threshold, step 205 is entered.

In the embodiment of the present application, when the identification result in step 201 is that the current scene of the unmanned aerial vehicle is a scene with environment brightness lower than the preset brightness threshold, it may be considered that the current scene of the unmanned aerial vehicle has weak illumination intensity (such as a night, a rainy day, a foggy day, etc.), if the visual sensor is used to detect the interval distance between the flight blade and the surrounding obstacle, the accuracy of the detected interval distance is greatly reduced due to the interference of the weak light environment by the visual sensor. In this case, therefore, step 205 may be entered, where the distance sensor that is less affected by the weak light environment acquires the distance between the flight blade and the surrounding obstacle, which is more accurate and more valuable for the subsequent determination process.

Optionally, the method may further include:

step 203, obtaining the current placement position, the current placement gradient and the current fault monitoring state of the unmanned aerial vehicle.

In the embodiment of the application, in order to further improve the takeoff safety of the unmanned aerial vehicle, the current placement position, the current placement gradient and the current fault monitoring state of the unmanned aerial vehicle can be obtained before the unmanned aerial vehicle takes off, and whether the basic safe takeoff condition is met or not is judged based on analysis of the parameters.

Specifically, the current placement position of the unmanned aerial vehicle can be determined through a global positioning system (GPS, global Positioning System) module of the unmanned aerial vehicle, the current placement inclination of the unmanned aerial vehicle can be acquired through a gyroscope built in the unmanned aerial vehicle, and the fault monitoring state of the unmanned aerial vehicle can be acquired through a self-checking module built in the unmanned aerial vehicle.

Step 204, if the placement location is not in a preset no-fly area, the placement inclination is less than or equal to a preset inclination threshold, and the fault monitoring state is a fault-free state, step 205 is entered.

In the embodiment of the present application, when the placement position is not in the preset no-fly area, the placement inclination is less than or equal to the preset inclination threshold, and the fault monitoring state is a no-fault state, the unmanned aerial vehicle may be considered to satisfy the basic safe takeoff condition, and in this case, step 205 may be entered, the separation distance between the flight blade and the surrounding obstacle may be obtained, and the safety of the subsequent takeoff may be further determined based on the analysis of the separation distance.

Step 205, obtaining a separation distance between a flight blade of the unmanned aerial vehicle and surrounding obstacles.

This step may refer to step 101, and will not be described herein.

Optionally, referring to fig. 2, the driving motor 12 of each of the flying blades 11 is provided with a distance sensor 13, and step 205 may specifically include:

substep 2051, determining a radius of rotation of said flight blade.

Substep 2052, obtaining, by the distance sensor, a first distance between the obstacle and the distance sensor.

Substep 2053, determining the difference between the first distance and the radius of rotation as the separation distance.

In particular, in an embodiment of the present application, reference is made to fig. 5, which shows a schematic top view of another unmanned aerial vehicle. Before the unmanned aerial vehicle 10 takes off, surrounding obstacles 30 can be sensed by the distance sensor 13, and a first distance between the distance sensor 13 and the obstacles 30 can be acquired by the distance sensor 13, wherein the flying blade 11 rotates around the driving motor, the end part of the flying blade 11 forms a rotating circle 40, the radius of the rotating circle 40 is the rotating radius of the flying blade, the difference between the first distance and the rotating radius is calculated, and the difference is the interval distance between the flying blade 11 driven by the driving motor and the obstacles 30.

And 206, controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value.

This step may refer to step 102, and will not be described herein.

Step 207, controlling the unmanned aerial vehicle to stop the take-off operation under the condition that the interval distance is smaller than or equal to a preset distance threshold value.

This step may refer to step 103, and will not be described herein.

Optionally, referring to fig. 2, the unmanned aerial vehicle 10 is provided with a vision sensor 14; the method may further comprise:

step 208, identifying the actual motion trail of the obstacle through the image acquired by the vision sensor.

In practical application, through analysis of the flight environment of the unmanned aerial vehicle, it is found that an obstacle which is in a motion state and moves towards the unmanned aerial vehicle often exists around the unmanned aerial vehicle, and the obstacle may not prevent the take-off action of the unmanned aerial vehicle at the current moment, but at a certain moment in the future, the obstacle can rapidly approach the unmanned aerial vehicle, and a great threat is generated to the take-off action of the unmanned aerial vehicle.

Thus, in an embodiment of the present application, the vision sensor 14 may be provided on the unmanned aerial vehicle 10, and the images including the obstacle around the unmanned aerial vehicle may be continuously collected by the vision sensor, and the actual movement trace of the obstacle in which the obstacle is in a movement state may be recognized through analysis of the continuous plurality of images including the obstacle.

Step 209, predicting a future motion trail of the obstacle according to the actual motion trail.

And 210, controlling the unmanned aerial vehicle to stop taking off operation and carrying out early warning notification under the condition that the future motion track is overlapped with the current position of the unmanned aerial vehicle.

After determining the actual motion trajectory of the obstacle around the unmanned aerial vehicle, the future motion trajectory of the obstacle can be predicted based on a certain rule because the motion of the obstacle usually has the rule.

Under the condition that the future movement track is overlapped with the current position of the unmanned aerial vehicle, the obstacle can be considered to move to a position close to the unmanned aerial vehicle in a short time, serious interference is generated to take-off of the unmanned aerial vehicle, at the moment, the control equipment can control the unmanned aerial vehicle to stop taking-off operation and perform early warning notification, and the purpose of enabling a user to perceive is achieved on the basis of guaranteeing the taking-off safety.

For example, referring to FIG. 6, a schematic view of an environment in which an unmanned aerial vehicle is located is shown. The unmanned aerial vehicle 10 waits for take-off, at this time, the vision sensor of the unmanned aerial vehicle 10 may collect images of the surrounding environment, the obstacle 30 in a motion state in the environment may be determined through analysis of the images, the actual motion track 51 of the obstacle 30 may be obtained through analysis, the obstacle 30 may be determined to be in a parabolic motion state through further analysis of the actual motion track 51, then the future motion track 52 of the obstacle 30 may be further predicted, i.e. the future motion track 52 is a section of parabola continuing the actual motion track 51, and the future motion track 52 overlaps with the position of the unmanned aerial vehicle 10, at this time, it may be considered that the obstacle 30 causes serious interference to take-off of the unmanned aerial vehicle 10, and the control device may control the unmanned aerial vehicle to stop the take-off operation and perform the early warning notification.

Optionally, in one implementation, step 210 may specifically include:

substep 2101, determining a relative positional relationship between the obstacle and the unmanned aerial vehicle through the image acquired by the vision sensor.

Sub-step 2102, obtaining a separation distance between a flight blade of the unmanned aerial vehicle and the obstacle.

Sub-step 2103, controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the interval distance and the relative position relation.

In one implementation manner of the embodiment of the application, the control device can determine the relative position relation between the obstacle and the unmanned aerial vehicle through the image acquired by the vision sensor of the unmanned aerial vehicle, and add the relative position relation and the interval distance between the flight blade and the obstacle into the early warning notice for display, so that a user can perceive the relative position relation and the distance between the obstacle and the unmanned aerial vehicle.

For example, referring to FIG. 7, a schematic diagram of an early warning notification interface is shown. Assuming that the obstacle moves at the upper left position of the unmanned aerial vehicle 10 and that the future movement track of the obstacle overlaps with the position of the unmanned aerial vehicle 10, such a relative positional relationship between the obstacle and the unmanned aerial vehicle 10 can be obtained by the vision sensor, and the distance between the flight blade of the unmanned aerial vehicle 10 and the obstacle can be monitored in real time by the distance sensor, then in the early warning notification interface of fig. 7, it is possible to alert "there is a moving obstacle at the upper left of the unmanned aerial vehicle, please note-! "and" current distance of obstacle from drone: xx.

Alternatively, in another implementation, step 210 may specifically include:

substep 2104, determining a relative position relationship between the obstacle and the unmanned aerial vehicle and a movement speed of the obstacle through the multi-frame images acquired by the vision sensor.

Substep 2105, obtaining a separation distance between a flight blade of the unmanned aerial vehicle and the obstacle.

Substep 2106, determining a length of movement required for the obstacle to move to the position of the unmanned aerial vehicle based on the separation distance and the movement speed.

Sub-step 2107, controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the motion duration and the relative position relation.

In another implementation manner of the embodiment of the application, the control device can acquire a plurality of continuous images acquired by the vision sensor of the unmanned aerial vehicle, and determine the relative position relation between the obstacle and the unmanned aerial vehicle and the movement speed of the obstacle through analysis of the plurality of continuous images, so as to determine the movement time required by the movement of the obstacle to the position of the unmanned aerial vehicle according to the interval distance between the flight blades of the unmanned aerial vehicle and the obstacle and the movement speed of the obstacle, and add the movement time and the relative position relation into the early warning notice for display, so that a user can perceive the relative position relation between the obstacle and the unmanned aerial vehicle and the time required by the movement of the obstacle to be close to the unmanned aerial vehicle.

For example, referring to FIG. 8, another pre-warning notification interface schematic is shown. Assuming that the obstacle moves at the upper left position of the unmanned aerial vehicle 10 and that the future movement track of the obstacle overlaps with the position of the unmanned aerial vehicle 10, this relative positional relationship between the obstacle and the unmanned aerial vehicle 10 can be obtained by the vision sensor, the distance between the flight blade of the unmanned aerial vehicle 10 and the obstacle can be monitored in real time by the distance sensor, and the movement speed of the obtained obstacle is determined to be XX, and further, the movement speed of the obstacle to the position of the unmanned aerial vehicle 10 after m seconds is calculated, then in the early warning notification interface of fig. 8, the "the upper left of the unmanned aerial vehicle has the moving obstacle is reminded-! "and" the obstacle moves to the position of the drone after m seconds ".

Step 211, controlling the unmanned aerial vehicle to execute a take-off operation under the condition that the future motion track is not overlapped with the current position of the unmanned aerial vehicle and the interval distance is larger than the distance threshold value.

In the embodiment of the application, under the condition that the future motion track is not overlapped with the current position of the unmanned aerial vehicle and the interval distance is larger than the distance threshold value, the obstacle can be considered to not interfere with the take-off of the unmanned aerial vehicle, and the control equipment can control the unmanned aerial vehicle to execute the take-off operation.

Fig. 9 is a block diagram of an unmanned aerial vehicle control apparatus according to an embodiment of the present application, and as shown in fig. 9, the unmanned aerial vehicle control apparatus 300 may include: an acquisition module 301 and a processing module 302;

the processing module is used for:

Optionally, a distance sensor is disposed on a driving motor of each flight blade, and the processing module is specifically configured to:

determining a radius of rotation of the flight blade;

acquiring a first distance between the obstacle and the distance sensor through the distance sensor;

and determining a difference between the first distance and the rotation radius as the interval distance.

Optionally, a visual sensor is arranged on the unmanned aerial vehicle; the processing module is further configured to:

identifying the actual motion trail of the obstacle through the image acquired by the vision sensor;

predicting a future motion trail of the obstacle according to the actual motion trail;

under the condition that the future motion trail is overlapped with the current position of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to stop taking off operation and carrying out early warning notification;

And controlling the unmanned aerial vehicle to execute take-off operation under the condition that the future motion track is not overlapped with the current position of the unmanned aerial vehicle and the interval distance is larger than the distance threshold value.

Optionally, the processing module is specifically configured to:

determining the relative position relationship between the obstacle and the unmanned aerial vehicle through the image acquired by the vision sensor;

acquiring the interval distance between the flight blade of the unmanned aerial vehicle and the obstacle;

and controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the interval distance and the relative position relationship.

Optionally, the processing module is specifically configured to:

determining the relative position relation between the obstacle and the unmanned aerial vehicle and the movement speed of the obstacle through the multi-frame images acquired by the vision sensor;

determining a movement duration required for the obstacle to move to the position of the unmanned aerial vehicle according to the interval distance and the movement speed;

and controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the movement duration and the relative position relationship.

determining a scene where the unmanned aerial vehicle is currently located through the image acquired by the vision sensor;

and under the condition that the scene is a scene with the environment brightness lower than a preset brightness threshold value, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.

acquiring the current placement position, the current placement gradient and the current fault monitoring state of the unmanned aerial vehicle;

and when the placing position is not in a preset no-fly area, the placing gradient is smaller than or equal to a preset gradient threshold value, and the fault monitoring state is a fault-free state, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.

Optionally, the distance sensor includes: an infrared distance sensor and a laser radar.

In summary, according to the unmanned aerial vehicle control device provided by the embodiment of the application, the interval distance between the flight blade of the unmanned aerial vehicle and surrounding obstacles is obtained before the unmanned aerial vehicle takes off; controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value; under the condition that the interval distance is smaller than or equal to a preset distance threshold value, the unmanned aerial vehicle is controlled to stop taking off, the embodiment of the application can detect the interval distance between the flight blades of the unmanned aerial vehicle and surrounding obstacles during taking off of the unmanned aerial vehicle, and determine whether the current unmanned aerial vehicle is in a safe taking off environment according to the interval distance, so that the probability of occurrence of a phenomenon of "frying" caused by collision between the flight blades and the obstacles during taking off of the unmanned aerial vehicle is reduced, the pneumatic performance of the unmanned aerial vehicle is not influenced by the whole scheme, and the taking-off zone of the unmanned aerial vehicle is not limited by people.

Referring to fig. 10, an embodiment of the present application further provides an unmanned aerial vehicle 400, including an unmanned aerial vehicle control apparatus 401, a control device 402, a power system 403, a vision sensor 404, and a distance sensor 405. The unmanned aerial vehicle control device receives the data collected by the vision sensor and the distance sensor and sends an instruction to the control equipment. The control device controls the power output of the power system.

Optionally, the unmanned aerial vehicle 400 includes at least one of an unmanned aerial vehicle, an unmanned ship, and a handheld shooting device.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the unmanned aerial vehicle control method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here. Wherein the computer readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The acquisition module may be an interface for the connection of the external control device with the unmanned aerial vehicle control. For example, the external control device may include a wired or wireless headset port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a control device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The acquisition module may be used to receive input (e.g., data information, power, etc.) from the external control device and transmit the received input to one or more elements within the unmanned aerial vehicle control device or may be used to transmit data between the unmanned aerial vehicle control device and the external control device.

Such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The processor is a control center of the control device, and connects various parts of the entire control device using various interfaces and lines, and performs various functions and processes of the control device by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory, thereby performing overall monitoring of the control device. The processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor primarily handles operating systems, user interfaces, applications, etc., and the modem processor primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be appreciated by those skilled in the art that embodiments of the application may be provided as a method, a control device, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction control means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has outlined rather broadly the more detailed description of the application in order that the detailed description of the principles and embodiments of the application may be implemented in conjunction with the detailed description of the application that follows, the examples being merely intended to facilitate an understanding of the method of the application and its core concepts; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

A method of unmanned aerial vehicle control, the method comprising:

before the unmanned aerial vehicle takes off, acquiring the interval distance between the flying blades of the unmanned aerial vehicle and surrounding obstacles;

controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value;

and controlling the unmanned aerial vehicle to stop taking off operation under the condition that the interval distance is smaller than or equal to a preset distance threshold value.
The method of claim 1, wherein each of the flying blades has a distance sensor disposed thereon, and wherein the obtaining the separation distance between the flying blade of the unmanned aerial vehicle and the surrounding obstacle comprises:

Determining a radius of rotation of the flight blade;

acquiring a first distance between the obstacle and the distance sensor through the distance sensor;

and determining a difference between the first distance and the rotation radius as the interval distance.
The method of claim 1, wherein the unmanned aerial vehicle is provided with a vision sensor; the method further comprises the steps of:

identifying the actual motion trail of the obstacle through the image acquired by the vision sensor;

predicting a future motion trail of the obstacle according to the actual motion trail;

under the condition that the future motion trail is overlapped with the current position of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to stop taking off operation and carrying out early warning notification;

and controlling the unmanned aerial vehicle to execute take-off operation under the condition that the future motion track is not overlapped with the current position of the unmanned aerial vehicle and the interval distance is larger than the distance threshold value.
The method of claim 3, wherein said controlling the unmanned aerial vehicle to stop takeoff operation and to provide an early warning notification comprises:

determining the relative position relationship between the obstacle and the unmanned aerial vehicle through the image acquired by the vision sensor;

Acquiring the interval distance between the flight blade of the unmanned aerial vehicle and the obstacle;

and controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the interval distance and the relative position relationship.
The method of claim 3, wherein said controlling the unmanned aerial vehicle to stop takeoff operation and to provide an early warning notification comprises:

determining the relative position relation between the obstacle and the unmanned aerial vehicle and the movement speed of the obstacle through the multi-frame images acquired by the vision sensor;

acquiring the interval distance between the flight blade of the unmanned aerial vehicle and the obstacle;

determining a movement duration required for the obstacle to move to the position of the unmanned aerial vehicle according to the interval distance and the movement speed;

and controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the movement duration and the relative position relationship.
The method of claim 1, wherein the unmanned aerial vehicle is provided with a vision sensor; the method further comprises the steps of:

determining a scene where the unmanned aerial vehicle is currently located through the image acquired by the vision sensor;

And under the condition that the scene is a scene with the environment brightness lower than a preset brightness threshold value, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.
The method of claim 1, wherein prior to said obtaining a separation distance between a flight blade of the unmanned aerial vehicle and a surrounding obstacle, the method further comprises:

acquiring the current placement position, the current placement gradient and the current fault monitoring state of the unmanned aerial vehicle;

and when the placing position is not in a preset no-fly area, the placing gradient is smaller than or equal to a preset gradient threshold value, and the fault monitoring state is a fault-free state, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.
The method of claim 2, wherein the distance sensor comprises: an infrared distance sensor and a laser radar.
An unmanned aerial vehicle control apparatus, the apparatus comprising: the device comprises an acquisition module and a processing module;

the acquisition module is used for acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles before the unmanned aerial vehicle takes off;

The processing module is used for:

controlling the unmanned aerial vehicle to execute take-off operation under the condition that the interval distance is larger than a preset distance threshold value;

and controlling the unmanned aerial vehicle to stop taking off operation under the condition that the interval distance is smaller than or equal to a preset distance threshold value.
The device according to claim 9, wherein a distance sensor is provided on the drive motor of each of the flying blades, the processing module being specifically configured to:

determining a radius of rotation of the flight blade;

acquiring a first distance between the obstacle and the distance sensor through the distance sensor;

and determining a difference between the first distance and the rotation radius as the interval distance.
The apparatus of claim 9, wherein the unmanned aerial vehicle is provided with a vision sensor; the processing module is further configured to:

identifying the actual motion trail of the obstacle through the image acquired by the vision sensor;

predicting a future motion trail of the obstacle according to the actual motion trail;

under the condition that the future motion trail is overlapped with the current position of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to stop taking off operation and carrying out early warning notification;

And controlling the unmanned aerial vehicle to execute take-off operation under the condition that the future motion track is not overlapped with the current position of the unmanned aerial vehicle and the interval distance is larger than the distance threshold value.
The apparatus of claim 11, wherein the processing module is specifically configured to:

determining the relative position relationship between the obstacle and the unmanned aerial vehicle through the image acquired by the vision sensor;

acquiring the interval distance between the flight blade of the unmanned aerial vehicle and the obstacle;

and controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the interval distance and the relative position relationship.
The apparatus of claim 11, wherein the processing module is specifically configured to:

determining the relative position relation between the obstacle and the unmanned aerial vehicle and the movement speed of the obstacle through the multi-frame images acquired by the vision sensor;

acquiring the interval distance between the flight blade of the unmanned aerial vehicle and the obstacle;

determining a movement duration required for the obstacle to move to the position of the unmanned aerial vehicle according to the interval distance and the movement speed;

And controlling the unmanned aerial vehicle to stop taking off operation, and displaying the early warning notice added with the movement duration and the relative position relationship.
The apparatus of claim 9, wherein the unmanned aerial vehicle is provided with a vision sensor; the processing module is further configured to:

determining a scene where the unmanned aerial vehicle is currently located through the image acquired by the vision sensor;

and under the condition that the scene is a scene with the environment brightness lower than a preset brightness threshold value, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.
The apparatus of claim 9, wherein the unmanned aerial vehicle is provided with a vision sensor; the processing module is further configured to:

acquiring the current placement position, the current placement gradient and the current fault monitoring state of the unmanned aerial vehicle;

and when the placing position is not in a preset no-fly area, the placing gradient is smaller than or equal to a preset gradient threshold value, and the fault monitoring state is a fault-free state, entering the step of acquiring the interval distance between the flying blade of the unmanned aerial vehicle and surrounding obstacles.
The apparatus of claim 10, wherein the distance sensor comprises: an infrared distance sensor and a laser radar.
An unmanned aerial vehicle comprising an unmanned aerial vehicle control apparatus, control device, power system, vision sensor and distance sensor according to any one of claims 9 to 16;

the unmanned aerial vehicle control device receives the data collected by the vision sensor and the distance sensor and sends an instruction to the control equipment.

The control device controls the power output of the power system.
The apparatus of claim 17, wherein the unmanned aerial vehicle comprises at least one of an unmanned aerial vehicle, an unmanned ship, a handheld shooting apparatus.
A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the unmanned aerial vehicle control method of any of claims 1 to 8.