WO2020014930A1 - 无人机的控制方法、装置和无人机 - Google Patents
无人机的控制方法、装置和无人机 Download PDFInfo
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- WO2020014930A1 WO2020014930A1 PCT/CN2018/096330 CN2018096330W WO2020014930A1 WO 2020014930 A1 WO2020014930 A1 WO 2020014930A1 CN 2018096330 W CN2018096330 W CN 2018096330W WO 2020014930 A1 WO2020014930 A1 WO 2020014930A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
Definitions
- Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a method, a device, and an unmanned aerial vehicle control method.
- Drones have been widely used and have played an increasingly important role in the social field. Drones generally fly in airspace, but as the number of drones in airspace increases, ceilings increase, and some users take off drones near airports, the drones gradually invade the airspace of civil aviation flights. It seriously affects the safety of large aircraft and its passengers, so measures need to be taken to avoid collisions between drones and large aircraft.
- an aircraft can broadcast its own position in real time, and then determine the distance between the drone and the aircraft based on the current position of the drone and the position of the aircraft. If the distance is less than a preset distance, the drone and the aircraft are determined. The possibility of an aircraft collision is high, and an early warning information is output to the user. The user controls the drone according to the early warning information to reduce this possibility. If the distance is greater than or equal to a preset distance, it is determined that the drone collides with the aircraft. The probability is low and no warning information is output to the user.
- Embodiments of the present invention provide a control method, a device, and a drone for a drone, which are used to prevent the drone from interfering with an aircraft and ensure flight safety of the aircraft.
- an embodiment of the present invention provides a method for controlling a drone, including:
- the flight parameters including: flight position and flight speed;
- flight parameters of the drone include: flight position;
- the speed includes a speed direction and a speed magnitude.
- an embodiment of the present invention provides a method for controlling a drone, including:
- the flight parameters of the aircraft including: flight position, flight speed;
- flight parameters of the drone include: flight position;
- the maximum of the drone to the aircraft is Degree of threat
- the speed includes a speed direction and a speed magnitude.
- an embodiment of the present invention provides a control device for a drone, including: a memory and a processor;
- the memory is configured to store code for executing a control method of the drone
- the processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters including: flight position and flight speed; acquiring flight parameters of the drone, the unmanned
- the flight parameters of the drone include: flight position; predicting the drone and the drone based on the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight speed of the drone in at least one space direction; A minimum distance between the aircraft; performing a collision prevention operation according to the minimum distance; wherein the speed includes a speed direction and a speed magnitude.
- an embodiment of the present invention provides a control device for a drone, including: a memory and a processor;
- the memory is configured to store code for executing a control method of the drone
- the processor is configured to call the code stored in the memory and execute: acquiring flight parameters of the aircraft, the flight parameters of the aircraft including: flight position and flight speed; acquiring flight parameters of the drone, the The flight parameters of the drone include: the flight position; determining the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone; according to the flight parameters of the aircraft and the The flight parameters of the human aircraft predict the maximum threat degree of the drone to the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained unchanged; according to the maximum threat degree, execute A collision prevention operation; wherein the speed includes a speed direction and a speed magnitude.
- an embodiment of the present invention provides an unmanned aerial vehicle, including: the third aspect or the control device for the unmanned aerial vehicle according to the third aspect of the embodiment of the present invention.
- an embodiment of the present invention provides a computer-readable storage medium.
- the computer-readable storage medium stores a computer program, where the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
- the computer executes the control method of the drone according to the first aspect or the second aspect of the embodiment of the present invention.
- an embodiment of the present invention provides a computer program for implementing the first or second aspect of the method for controlling a drone according to an embodiment of the present invention when the computer program is executed by a computer.
- the control method, device and drone of the drone provided by the embodiments of the present invention are obtained by acquiring flight parameters of the aircraft and flight parameters of the drone; according to the flight parameters of the aircraft and the flight parameters of the drone, Determining the avoidance flight speed of the drone; and predicting, under the flight parameters of the aircraft and the flight parameters of the drone, that the drone is flying at the avoidance flight speed while maintaining the same speed, The maximum threat degree of the drone to the aircraft; and performing a collision prevention operation according to the maximum threat degree.
- This embodiment first predicts the threat degree of the drone to the aircraft if the drone avoids the flight of the aircraft, and then performs a collision prevention operation, thereby ensuring that the drone does not interfere with the normal flight of the aircraft from the current moment and ensures the aircraft Flight safety.
- FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention
- FIG. 2 is a flowchart of a method for controlling a drone according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of obtaining an avoidance flight speed according to an embodiment of the present invention.
- FIG. 4 is a flowchart of a method for controlling a drone according to another embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a control device for an unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
- a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
- Embodiments of the present invention provide a method, a device, and a drone for controlling a drone.
- the drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air.
- Embodiments of the present invention are not limited thereto.
- FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention. This embodiment is described by taking a rotary wing drone as an example.
- the unmanned aerial system 100 may include an unmanned aerial vehicle 110, a display device 130, and a control device 140.
- the UAV 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack.
- the drone 110 may perform wireless communication with the control terminal 140 and the display device 130.
- the frame may include a fuselage and a tripod (also called a landing gear).
- the fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame.
- the tripod is connected to the fuselage, and is used to support the UAV 110 when landing.
- the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153.
- the electric motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the drone 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the rotation speed of the motor 152.
- the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom.
- the drone 110 may rotate about one or more rotation axes.
- the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch).
- the motor 152 may be a DC motor or an AC motor.
- the motor 152 may be a brushless motor or a brushed motor.
- the flight control system 160 may include a flight controller 161 and a sensing system 162.
- the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
- the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
- the global navigation satellite system may be a Global Positioning System (Global Positioning System, GPS).
- the flight controller 161 is used to control the flight of the drone 110.
- the flight controller 161 may control the flight of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to a pre-programmed program instruction, and may also control the drone 110 by responding to one or more control instructions from the control terminal 140.
- the gimbal 120 may include a motor 122.
- the gimbal is used to carry the photographing device 123.
- the flight controller 161 may control the movement of the gimbal 120 through the motor 122.
- the PTZ 120 may further include a controller for controlling the movement of the PTZ 120 by controlling the motor 122.
- the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110.
- the motor 122 may be a DC motor or an AC motor.
- the motor 122 may be a brushless motor or a brushed motor.
- the gimbal can be located on the top of the drone or on the bottom of the drone.
- the photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera.
- the photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
- the photographing device 123 of this embodiment includes at least a photosensitive element.
- the photosensitive element is, for example, a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.
- CMOS complementary metal oxide semiconductor
- CCD charge-coupled device
- the display device 130 is located on the ground side of the unmanned flight system 100, can communicate with the drone 110 wirelessly, and can be used to display attitude information of the drone 110. In addition, an image captured by the imaging device may be displayed on the display device 130. It should be understood that the display device 130 may be an independent device, or may be integrated in the control terminal 140.
- the control terminal 140 is located on the ground side of the unmanned flight system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remotely controlling the unmanned aerial vehicle 110.
- FIG. 2 is a flowchart of a drone control method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
- the flight parameter of the drone includes a flight position.
- the flight parameters of the aircraft can be obtained, and the flight parameters of the drone can also be obtained. It should be noted that this embodiment does not limit the order of obtaining the flight parameters of the aircraft and the flight parameters of the drone.
- the flight parameters may be acquired in real time, or the flight parameters may be acquired at preset intervals.
- obtaining the flight parameters of the aircraft may be: obtaining the flight parameters of the aircraft published through the Internet, or obtaining the flight parameters of the aircraft received by the Broadcast Automatic Dependent Surveillance Broadcast (ADS-B) equipment on the drone. .
- ADS-B Broadcast Automatic Dependent Surveillance Broadcast
- acquiring the first flight status information of the aircraft sent through the Internet may include: acquiring the published first flight status information of the aircraft through a preset website, which may be, for example, status information of some professional aircraft Websites for querying or publishing (for example, www.flightradar24.com, zh.flightaware.com, etc.).
- the flight parameters of the aircraft include: flight position and flight speed.
- the flight parameters of the aircraft may further include one or more of acceleration, altitude, and identity information.
- the flight parameters of the drone include: flight position.
- the flight parameters of the drone may further include one or more of flight speed information, acceleration, altitude, and identity information.
- S203 Determine the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone.
- the avoidance flight speed of the UAV is determined according to the currently acquired flight parameters of the aircraft and the UAV flight parameters.
- the avoidance flight speed of the drone makes the drone move away from the aircraft if the drone is flying at the avoidance flight speed.
- the above-mentioned speed includes the speed direction and the speed magnitude, it can also be considered that the speed can be represented by a speed vector.
- the drone after the avoidance flight speed of the drone is determined, if the drone is flying at the avoidance flight speed, then based on the flight parameters of the aircraft and the flight parameters of the drone, the drone is predicted to use the In the case of avoiding flight speed and maintaining the same speed, the maximum threat degree of the drone to the aircraft from the current moment. This maximum level of threat can indicate the degree of danger the drone poses to the aircraft.
- a possible implementation manner of the above S204 is: predicting, based on the flight parameters of the aircraft and the flight parameters of the drone, that the drone will fly at the avoiding flight speed and maintain the same speed In this case, the minimum distance between the drone and the aircraft from the current moment; and then based on the minimum distance, determine the maximum threat degree of the drone to the aircraft, which can be obtained, for example, by the following formula :
- ⁇ b, a -min
- P a represents the position of the aircraft
- P b represents the position of the drone
- t 0 represents the current time
- t + t 0 is the time after the start of the current time t 0
- ⁇ b a represents the greatest threat of the drone to the aircraft.
- the degree can also be called the maximum threat coefficient. It can be known from the above formula that the maximum threat degree is a negative value of the minimum distance. The larger ⁇ b, a indicates the more dangerous between the drone and the aircraft, and the smaller ⁇ b, a indicates the safer between the drone and the aircraft.
- this embodiment can predict the maximum threat degree of the drone to each aircraft through the above S201-S204, and then from the predicted maximum threat degree of the drone to all aircraft, A maximum value is determined, and the maximum value is used as the maximum threat degree in the execution of S205, and the maximum value represents the maximum value of the threat degree of the drone to all aircraft.
- the maximum threat level is compared with a preset threat level. If the maximum threat level is greater than the preset threat level, the drone is controlled to fly at an evasive flight speed so that the unmanned Keep the aircraft away from the aircraft as soon as possible to prevent the drone from causing danger to the aircraft and prevent interference with the aircraft's flight. If this embodiment is applied to a control terminal of a drone, the control terminal sends a flight control instruction to the drone when it is determined that the maximum threat degree is greater than a preset threat degree, and the flight control instruction is used to control the drone Flying at said avoiding flight speed. If the maximum threat level is less than or equal to the preset threat level, the flight speed is not adopted to avoid flight.
- a prompt message may be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the The degree of threat of a human-machine to the aircraft.
- This embodiment can also classify the degree of threat. Different levels of threat can be distinguished by different colors. Therefore, the prompt information can indicate the threat level of the maximum degree of threat by different colors. To prompt the user to pay attention to avoidance.
- the prompt information can also indicate the distribution of aircraft in the surrounding airspace of the drone (such as flight position and flight direction, etc.). If this implementation is applied to a drone, the drone sends prompt information to the control terminal of the drone after determining that the maximum threat level is less than or equal to a preset threat level, so that the control terminal displays the prompt information on the display device.
- the preset threat degree may be, for example, -23550, which means that when the minimum distance between the drone and the aircraft is predicted to be less than 2350 meters, the drone is controlled to fly at an avoiding flight speed.
- a first safety distance which is, for example, 10 meters. If the distance on the ground is greater than the first safe distance, the drone is controlled to fly at an avoiding flight speed, so as to keep the drone away from the aircraft as soon as possible, to prevent the drone from causing danger to the aircraft, and to prevent interference with the aircraft's flight.
- the drone is controlled to avoid flying at flight speed; however, this embodiment can control the drone to wait to receive the user's operation instruction (such as the amount of joystick input by the user) and fly according to the user's operation instruction, or control the drone suspension stop.
- prompt information may also be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the threat degree of the drone to the aircraft.
- the drone if it is determined that the maximum threat degree is greater than a preset threat degree, it is also judged whether the drone detects whether there is an obstacle within a second safety distance in front, the second safety distance is, for example, 10 meters, and optionally Ground, the drone can detect whether there is an obstacle within the second safe distance ahead by visual sensors or radar. If the drone detects that there are no obstacles within the second safe distance in front, the drone is controlled to fly at an avoiding flight speed so as to keep the drone away from the aircraft as soon as possible to prevent the drone from causing danger to the aircraft and preventing interference. Flight to the aircraft.
- the obstacle may be a non-moving obstacle, and the drone is not controlled to fly at an avoiding flight speed, but is instead controlled to hover the drone.
- the drone is not controlled to fly at an avoiding flight speed, but is instead controlled to hover the drone.
- This is due to the presence of obstacles. Aircraft generally fly as far away from the obstacle as possible, and do not fly near the obstacle. Therefore, when the distance between the drone and the obstacle is relatively short, it can be considered that the drone interferes with the aircraft. Relatively small, the drone can avoid flying at avoiding flight speed, but control the drone to hover to prevent the drone from colliding with obstacles.
- prompt information may also be displayed on a display device of a control terminal of the drone, where the prompt information is used to prompt the threat degree of the drone to the aircraft.
- this embodiment can determine whether to enable the automatic avoidance aircraft function by judging whether the distance between the drone and the ground is greater than the first safety distance, and execute S203-S205, which can save processing resources.
- the method for controlling a drone is to obtain flight parameters of the aircraft and flight parameters of the drone, and determine the drone's performance based on the flight parameters of the aircraft and the flight parameters of the drone. Avoidance flight speed; based on the flight parameters of the aircraft and the flight parameters of the drone, predicting that the drone is flying at the avoidance flight speed and maintaining the same speed, the drone approaches the destination.
- the maximum threat level of the aircraft is described; according to the maximum threat level, a collision prevention operation is performed. This embodiment first predicts the threat degree of the drone to the aircraft if the drone avoids the flight of the aircraft, and then performs a collision prevention operation, thereby ensuring that the drone does not interfere with the normal flight of the aircraft from the current moment and ensures the aircraft Flight safety.
- a possible implementation manner of the above S203 is: according to the displacement of the aircraft relative to the drone, and the relative flight speed, from the drone at least The avoidance flight speed is determined from a maximum permitted flight speed in a space direction.
- the relative flight speed includes the relative flight speed between the maximum permitted flight speed of the drone in each of the at least one space direction and the flight speed of the aircraft, and the displacement is determined by the flight position of the aircraft and The flight position of the drone is determined, and the displacement includes a direction and a distance of the aircraft relative to the drone. That is, as shown in FIG.
- the displacement of the aircraft relative to the drone (P ab ) is determined; Relative flight speed ( ⁇ a ) and the maximum permitted flight speed ( ⁇ b ) of the drone in at least one space direction to determine the relative flight speed ( ⁇ ab ); and then based on the aircraft's displacement relative to the drone (P ab ) , And the above-mentioned relative flight speed ( ⁇ ab ), from the maximum permitted flight speed of the drone in at least one space direction, the maximum permitted flight speed in one of the space directions is determined as the avoidance flight speed. So that the drone can fly away from the aircraft with the maximum allowable maneuverability.
- the avoidance flight may be determined from a maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed. speed. As shown in FIG. 3, if the speeds of the maximum permitted speeds of the drone in each spatial direction are the same, the maximum permitted flying speeds in each spatial direction will form a space body, such as a sphere, in space. It should be noted that, in general, the horizontal speed of some drones is greater than the ascending speed, and the ascending speed is greater than the descending speed. The forward speed of some drones is much greater than the vertical and lateral speeds, and there is no reverse speed.
- the above-mentioned space body may be an irregularly shaped space body.
- the maximum permitted flight speed in a certain space direction the relative flight speed between the maximum permitted flight speed in the space direction and the aircraft's flight speed, the displacement is coplanar, and the coplanar surface and the surface of the space body
- the angle between the displacement and the relative flight speed is the largest, so the maximum permitted flight speed in the space direction is the avoidance flight speed. If the drone is flying at the avoiding flight speed from the current moment, the minimum distance between the drone and the aircraft is d min .
- the maximum permitted flying speed of the UAV in at least one spatial direction includes: the maximum speed in at least one spatial direction when the visual obstacle avoidance is valid. Allowed flight speed.
- the drone yaw angle can be adjusted at the same time as the horizontal direction of the drone to ensure that the drone can still avoid normal avoidance during the avoidance Drive obstacles.
- the maximum permitted flying speed of the drone in at least one space direction includes a preset maximum speed in a preset space direction.
- a preset maximum speed in a preset space direction Generally, an aircraft flies above a drone. When determining the avoidance flight speed of a drone, it generally does not control the drone to fly upwards when performing an avoidance operation. Therefore, the preset maximum in the preset space direction The speed may include preset maximum speeds in each space direction in which the drone is oriented horizontally downward.
- a possible implementation manner of the above S204 is: according to the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft's flight speed relative to the avoidance flight speed, In the case where the unmanned aerial vehicle is flying at the avoiding flight speed while maintaining the same speed, the maximum threat degree of the unmanned aerial vehicle to the aircraft is predicted.
- the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone.
- the displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.
- the displacement of the drone relative to the aircraft may be determined according to the flight position of the aircraft and the flight position of the drone, and the aircraft may be determined according to the flight speed of the aircraft and the avoidance flight speed of the drone. Relative flight speed relative to the drone, and then based on the displacement of the drone relative to the aircraft and the relative flight speed, predicting that the drone will fly at the avoiding flight speed and keep the speed constant In the case, the greatest threat degree of the drone to the aircraft.
- whether the drone is located in front of the aircraft may be determined according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft.
- predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed
- the maximum threat degree of the unmanned aerial vehicle to the aircraft In the case where the unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant, the maximum threat degree of the unmanned aerial vehicle to the aircraft.
- the drone is located behind the aircraft, based on the displacement of the drone relative to the aircraft, predicting that the drone will fly at the avoiding flight speed and maintain the same speed, The maximum threat level of the drone to the aircraft.
- the area in front of the aircraft can be considered as the area of view of the pilot of the aircraft.
- the displacement of the drone relative to the aircraft may be determined based on the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Whether the angle between the aircraft's flight speed is obtuse. When the included angle is an obtuse angle, according to the displacement of the drone relative to the aircraft, it is predicted that the drone will fly at the avoiding flight speed and maintain the same speed, under the condition that the drone The greatest degree of threat to the aircraft.
- the included angle of the drone relative to the aircraft is not an obtuse angle, according to the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed , Predicting the maximum threat degree of the drone to the aircraft under the circumstance that the drone flies at the avoiding flight speed and maintains the same speed.
- a possible implementation manner for determining whether an included angle between the displacement of the drone relative to the aircraft and the flight speed of the aircraft is an obtuse angle is: according to the drone relative to the aircraft The displacement and flight speed of the aircraft, determine Where ⁇ a represents the flying speed of the aircraft at the current moment, and P ba represents the displacement of the drone relative to the aircraft at the current moment, Transpose indicating the flight speed of the aircraft. in case If the value of is greater than 0, it is determined that the included angle is not an obtuse angle. in case If the value of is less than or equal to 0, it is determined that the included angle is an obtuse angle.
- the drone is in the One way to achieve the maximum threat level of the aircraft is to determine the maximum threat level according to
- the above-mentioned prediction based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed predicts the drone to adopt the avoidance flight speed
- an implementation manner of the greatest threat degree of the drone to the aircraft is:
- the maximum level of threat is determined, wherein, P ba the current time with respect to the displacement of the drone aircraft, ⁇ ab flight speed of the aircraft is flying relative speed with respect to the flying speed avoidance.
- FIG. 4 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 4, the method in this embodiment may include:
- the flight parameters of the aircraft include a flight position and a flight speed.
- the flight parameter of the drone includes a flight position.
- S403. Predict the minimum between the drone and the aircraft according to the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight speed of the drone in at least one space direction. distance.
- the flight parameters of the aircraft and the flight parameters of the drone it is possible to predict that the drone will fly at the maximum permitted flight speed in at least one space direction and remain unchanged under the condition that the drone is not changed.
- the minimum distance between the aircraft and the aircraft is not changed.
- the avoidance flight speed may be determined from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed is the One of the maximum permitted flight speeds of the drone in at least one space direction, the avoidance flight speed is used to move the drone away from the aircraft; and then according to the flight position, flight speed, and The flying position of the drone, the minimum distance between the drone and the aircraft is predicted in the case where the drone is flying at the avoiding flight speed and the speed is maintained.
- the avoidance flight speed is the One of the maximum permitted flight speeds of the drone in at least one space direction, the avoidance flight speed is used to move the drone away from the aircraft; and then according to the flight position, flight speed, and The flying position of the drone, the minimum distance between the drone and the aircraft is predicted in the case where the drone is flying at the avoiding flight speed and the speed is maintained.
- a collision prevention operation is performed according to the minimum distance.
- the smaller the minimum distance the greater the maximum threat degree of the drone to the aircraft, and the larger the minimum distance, the smaller the maximum threat degree of the drone to the aircraft.
- the method for controlling a drone is obtained by acquiring flight parameters of the aircraft and flight parameters of the drone; according to the flight parameters of the aircraft, the flight parameters of the drone, and whether the drone is at least at least The maximum permitted flight speed in one space direction predicts the minimum distance between the drone and the aircraft; and performs a collision prevention operation based on the minimum distance.
- the minimum possible distance between the drone and the aircraft is predicted, and then a collision prevention operation is performed, so as to ensure that the drone does not interfere with the normal flight of the aircraft from the current moment and guarantee the flight safety of the aircraft.
- An embodiment of the present invention also provides a computer storage medium.
- the computer storage medium stores program instructions.
- the program may include part or all of the steps of the method for controlling a drone in the foregoing embodiments.
- FIG. 5 is a schematic structural diagram of a drone control device according to an embodiment of the present invention.
- the drone control device 500 in this embodiment may include a memory 501 and a processor 502.
- the memory 501 and the processor 502 are connected via a bus.
- the processor 502 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), or an application-specific integrated circuit (ASIC). ), Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
- a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the memory 501 is configured to store code for executing a control method of the drone.
- the processor 502 is configured to call the code stored in the memory 501 and execute: obtain flight parameters of the aircraft, the flight parameters include: flight position, flight speed, and acquire unmanned Flight parameters of the drone, the flight parameters of the drone include: flight position; according to the flight parameters of the aircraft, the flight parameters of the drone, and the maximum permitted flight of the drone in at least one space direction Speed, predicting a minimum distance between the drone and the aircraft; performing a collision prevention operation based on the minimum distance; wherein the speed includes a speed direction and a speed magnitude.
- the processor 502 is specifically configured to determine the avoidance flight speed from the maximum permitted flight speed of the drone in at least one space direction according to the flight speed of the aircraft; the avoidance flight speed It is one of the maximum permitted flight speeds of the drone in at least one space direction, and the avoidance flight speed is used to move the drone away from the aircraft; according to the flight position of the aircraft, flight The speed and the flying position of the drone predict the minimum distance between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained.
- the processor 502 is specifically configured to: according to a displacement of the aircraft relative to the drone, and a relative flight speed, a maximum permitted flight speed from the drone in at least one space direction To determine the avoidance flight speed.
- the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
- the processor 502 is specifically configured to determine the position of the drone from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed.
- the avoidance flight speed is described. Wherein, the avoidance flight speed makes the relative flight speed between the flight speed of the aircraft and the avoidance flight speed, and the angle between the displacements is the largest.
- the processor 502 is specifically configured to predict the UAV based on the displacement of the UAV relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed.
- the minimum distance between the unmanned aerial vehicle and the aircraft when the unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant.
- the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone, and the displacement of the drone relative to the aircraft includes the drone Relative to the direction and distance of the aircraft.
- the processor 502 is specifically configured to determine whether the drone is located in front of the aircraft according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft.
- the aircraft is predicted based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed.
- the processor 502 is specifically configured to determine the displacement of the drone relative to the aircraft according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Describes whether the angle between the aircraft's flight speed is an obtuse angle. When the included angle is an obtuse angle, predicting the minimum distance based on the displacement of the drone relative to the aircraft; and / or, when the included angle is not an obtuse angle, according to the drone relative to The minimum distance is predicted by the displacement of the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed.
- the processor 502 is specifically configured to: when the minimum distance is less than a preset distance, control the drone to fly at the avoidance flight speed; or send flight control to the drone An instruction, the flight control instruction is used to control the drone to fly at the avoiding flight speed.
- the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance and the minimum distance is less than a preset distance, control the drone to use the avoidance Flying at flying speed.
- the processor 502 is further configured to: when the minimum distance is greater than or equal to a preset distance, display a prompt message on a display device of a control terminal of the drone, or control the drone The terminal sends a prompt message.
- the prompt information is used to prompt the threat degree of the drone to the aircraft.
- the processor 502 is specifically configured to control the drone to hover when the drone detects an obstacle within the second safe distance ahead and the minimum distance is less than a preset distance. .
- the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, predict the aircraft according to flight parameters of the aircraft and flight parameters of the drone. The minimum distance between the drone and the aircraft.
- the maximum permitted flying speed of the UAV in at least one spatial direction is: the maximum permitted flying speed of at least one spatial direction when the visual obstacle avoidance is valid. .
- the maximum permitted flying speed of the drone in at least one space direction includes: a preset maximum speed in a preset space direction.
- the processor 502 is specifically configured to: obtain the flight parameters of the aircraft published through the Internet; and / or obtain the flight parameters of the aircraft detected by the broadcast-type automatic correlation monitoring device on the drone.
- the processor 502 is configured to call the code stored in the memory 501 and execute: obtain flight parameters of the aircraft, and the flight parameters of the aircraft include: flight position and flight speed; Obtain flight parameters of the drone, the flight parameters of the drone include: flight position; determine the avoidance flight speed of the drone according to the flight parameters of the aircraft and the flight parameters of the drone; The flight parameters of the aircraft and the flight parameters of the drone predict the greatest threat of the drone to the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained. Degree; performing a collision prevention operation according to the maximum threat degree; wherein the speed includes a speed direction and a speed magnitude.
- the processor 502 is specifically configured to: according to a displacement of the aircraft relative to the drone, and a relative flight speed, a maximum permitted flight speed from the drone in at least one space direction To determine the avoidance flight speed.
- the relative flight speed includes a relative flight speed between a maximum permitted flight speed of the drone in the at least one space direction and a flight speed of the aircraft; the displacement is determined by a flight position of the aircraft And the flight position of the drone is determined, the displacement includes a direction and a distance of the aircraft relative to the drone.
- the processor 502 is specifically configured to determine the position of the drone from the maximum permitted flight speed of the drone in at least one space direction according to an angle between the displacement and the relative flight speed.
- the avoidance flight speed is described.
- the avoidance flight speed is such that the angle between the relative flight speed of the aircraft's flight speed and the avoidance flight speed and the displacement is the largest.
- the processor 502 is specifically configured to predict the UAV based on the displacement of the UAV relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed.
- the maximum threat degree of the unmanned aerial vehicle to the aircraft In the case where an unmanned aerial vehicle is flying at the avoiding flight speed and the speed is kept constant, the maximum threat degree of the unmanned aerial vehicle to the aircraft.
- the displacement of the drone relative to the aircraft is determined by the flying position of the aircraft and the flying position of the drone.
- the displacement of the drone relative to the aircraft includes the drone relative to the aircraft. The direction and distance of the aircraft.
- the processor 502 is specifically configured to determine whether the drone is located in front of the aircraft according to a displacement of the drone relative to the aircraft and a flying speed of the aircraft.
- predicting the drone based on the displacement of the drone relative to the aircraft, and the relative flight speed of the aircraft relative to the avoidance flight speed The maximum threat level; and / or when the drone is located behind the aircraft, predicting the maximum threat level based on the displacement of the drone relative to the aircraft.
- the processor 502 is specifically configured to determine the displacement of the drone relative to the aircraft according to the displacement of the drone relative to the aircraft and the flight speed of the aircraft. Describes whether the angle between the aircraft's flight speed is an obtuse angle. When the included angle is an obtuse angle, predicting the maximum degree of threat based on the displacement of the drone relative to the aircraft; and / or, when the included angle is not an obtuse angle, according to the drone relative The maximum threat degree is predicted based on the displacement of the aircraft and the relative flight speed of the aircraft relative to the avoidance flight speed.
- the maximum permitted flight speed of the UAV in at least one space direction includes: the maximum permitted flight speed of the UAV in at least one space direction speed.
- the maximum permitted flying speed of the drone in at least one space direction includes: a preset maximum speed in a preset space direction.
- the processor 502 is specifically configured to: when the maximum threat degree is greater than a preset threat degree, control the drone to fly at the avoidance flight speed; or send to the drone A flight control instruction for controlling the drone to fly at the avoiding flight speed.
- the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance and the maximum threat degree is greater than a preset threat degree, control the drone to use the Said avoid flight speed.
- the processor 502 is further configured to: when the maximum threat degree is less than or equal to a preset threat degree, display a prompt message on a display device of a control terminal of the drone, or, to the drone
- the control terminal sends prompt information; the prompt information is used to prompt the threat degree of the drone to the aircraft.
- the processor 502 is specifically configured to: control the unmanned person when the drone detects an obstacle within a second safe distance ahead and when the maximum threat degree is greater than a preset threat degree Aircraft hover.
- the processor 502 is specifically configured to: when the distance between the drone and the ground is greater than a first safety distance, determine a position based on flight parameters of the aircraft and flight parameters of the drone. The avoidance flight speed of the drone is described.
- the processor 502 is specifically configured to predict a minimum value between the drone and the aircraft when the drone is flying at the avoiding flight speed and the speed is maintained. Distance; determining the maximum threat degree based on the minimum distance.
- the processor 502 is specifically configured to: obtain the flight parameters of the aircraft published through the Internet; and / or obtain the flight parameters of the aircraft received by the broadcast-type automatic correlation monitoring device on the drone.
- the apparatus in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
- FIG. 6 is a schematic structural diagram of a drone according to an embodiment of the present invention.
- the drone 600 in this embodiment may include: a control device 601 for the drone.
- the control device 601 of the drone may adopt the structure of the device embodiment shown in FIG. 5, and correspondingly, the technical solutions of the foregoing method embodiments of the present invention may be implemented. The implementation principles and technical effects are similar, and are not described here again.
- the drone of this embodiment may include a propeller (not shown in the figure), and the control device 601 of the drone may control the drone to control the drone to fly at an avoiding flight speed or control the drone Hover.
- the present invention further provides a ground control device for controlling a drone.
- the ground control device may include a drone control device, and the drone control device may adopt The structure of the device embodiment shown in FIG. 5 correspondingly can implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and are not repeated here.
- the foregoing program may be stored in a computer-readable storage medium.
- the program is executed, the program is executed.
- the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.
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Abstract
一种无人机的控制方法、装置和无人机,此方法包括:获取航空器的飞行参数,航空器的飞行参数包括:飞行位置、飞行速度(S201);获取无人机的飞行参数,无人机的飞行参数包括:飞行位置(S202);根据航空器的飞行参数和无人机的飞行参数,确定无人机的避让飞行速度(S203);根据航空器的飞行参数和无人机的飞行参数,预测无人机以避让飞行速度飞行且保持速度不变的情况下,无人机对航空器的最大威胁程度(S204);根据最大威胁程度,执行防止碰撞操作(S205)。本方法先预测出无人机若避让航空器飞行,无人机对航空器的威胁程度,然后再执行防止碰撞操作,从而保证无人机从当前时刻起不干扰到航空器的正常飞行,保证了航空器的飞行安全。
Description
本发明实施例涉及无人机技术领域,尤其涉及一种无人机的控制方法、装置和无人机。
近年来无人机得到了广泛的应用,在社会领域中起到了越来越重要的作用。无人机一般在空域中飞行,但是随着空域中无人机数量的增多、升限的增大以及部分用户在机场附近起飞无人机等因素,无人机逐渐侵入到民航航班的空域中,严重影响大型航空器及其乘客的安全,因此需要采取措施避免无人机与大型航空器相撞。目前,航空器可以实时广播自身的位置,然后根据该无人机的当前位置以及航空器的位置,确定出无人机与航空器之间的距离,若该距离小于预设距离,则确定无人机与航空器相撞的可能性高,向用户输出预警信息,则用户根据该预警信息操控无人机以降低这种可能性,若该距离大于或等于预设距离,则确定无人机与航空器相撞的可能性低,不向用户输出预警信息。
但是,即使当前计算的距离大于或等于预设距离,若无人机与航空器相向飞行,又由于未及时输出预警信息,会造成无人机对航空器产生干扰,进而影响到航空器的飞行安全。
发明内容
本发明实施例提供一种无人机的控制方法、装置和无人机,用于避免无人机对航空器产生干扰,保证航空器的飞行安全。
第一方面,本发明实施例提供一种无人机的控制方法,包括:
获取航空器的飞行参数,所述飞行参数包括:飞行位置、飞行速度;
获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;
根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器 之间的最小距离;
根据所述最小距离,执行防止碰撞操作;
其中,所述速度包括速度方向和速度大小。
第二方面,本发明实施例提供一种无人机的控制方法,包括:
获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度;
获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;
根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;
根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;
根据所述最大威胁程度,执行防止碰撞操作;
其中,所述速度包括速度方向和速度大小。
第三方面,本发明实施例提供一种无人机的控制装置,包括:存储器和处理器;
所述存储器,用于存储执行无人机的控制方法的代码;
所述处理器,用于调用所述存储器中存储的所述代码,执行:获取航空器的飞行参数,所述飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离;根据所述最小距离,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
第四方面,本发明实施例提供一种无人机的控制装置,包括:存储器和处理器;
所述存储器,用于存储执行无人机的控制方法的代码;
所述处理器,用于调用所述存储器中存储的所述代码,执行:获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航 空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
第五方面,本发明实施例提供一种无人机,包括:如第三方面或第三方面本发明实施例所述的无人机的控制装置。
第六方面,本发明实施例提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序包含至少一段代码,所述至少一段代码可由计算机执行,以控制所述计算机执行第一方面或第二方面本发明实施例所述的无人机的控制方法。
第七方面,本发明实施例提供一种计算机程序,当所述计算机程序被计算机执行时,用于实现第一方面或第二方面本发明实施例所述的无人机的控制方法。
本发明实施例提供的无人机的控制方法、装置和无人机,通过获取航空器的飞行参数以及无人机的飞行参数;根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作。本实施例先预测出无人机若避让航空器飞行,无人机对航空器的威胁程度,然后再执行防止碰撞操作,从而保证无人机从当前时刻起不干扰到航空器的正常飞行,保证了航空器的飞行安全。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是根据本发明的实施例的无人飞行***的示意性架构图;
图2为本发明一实施例提供的无人机的控制方法的流程图;
图3为本发明一实施例提供的获取避让飞行速度的示意图;
图4为本发明另一实施例提供的无人机的控制方法的流程图;
图5为本发明一实施例提供的无人机的控制装置的结构示意图;
图6为本发明一实施例提供的无人机的结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,当组件被称为“固定于”另一个组件,它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图,对本发明的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
本发明的实施例提供了无人机的控制方法、设备和无人机。其中无人机可以是旋翼飞行器(rotorcraft),例如,由多个推动装置通过空气推动的多旋翼飞行器,本发明的实施例并不限于此。
图1是根据本发明的实施例的无人飞行***的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行***100可以包括无人机110、显示设备130和控制装置140。其中,无人机110可以包括动力***150、飞行控制***160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无 线通信。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接,用于在无人机110着陆时起支撑作用。
动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152,其中电机152连接在电子调速器151与螺旋桨153之间,电机152和螺旋桨153设置在无人机110的机臂上;电子调速器151用于接收飞行控制***160产生的驱动信号,并根据驱动信号提供驱动电流给电机152,以控制电机152的转速。电机152用于驱动螺旋桨旋转,从而为无人机110的飞行提供动力,该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中,无人机110可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解,电机152可以是直流电机,也可以交流电机。另外,电机152可以是无刷电机,也可以是有刷电机。
飞行控制***160可以包括飞行控制器161和传感***162。传感***162用于测量无人机的姿态信息,即无人机110在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如,全球导航卫星***可以是全球定位***(Global Positioning System,GPS)。飞行控制器161用于控制无人机110的飞行,例如,可以根据传感***162测量的姿态信息控制无人机110的飞行。应理解,飞行控制器161可以按照预先编好的程序指令对无人机110进行控制,也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。
云台120可以包括电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选地,作为另一实施例,云台120还可以包括控制器,用于通过控制电机122来控制云台120的运动。应理解,云台120可以独立于无人机110,也可以为无人机110的一部分。 应理解,电机122可以是直流电机,也可以是交流电机。另外,电机122可以是无刷电机,也可以是有刷电机。还应理解,云台可以位于无人机的顶部,也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备,拍摄装置123可以与飞行控制器通信,并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件,该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor,CMOS)传感器或电荷耦合元件(Charge-coupled Device,CCD)传感器。可以理解,拍摄装置123也可直接固定于无人机110上,从而云台120可以省略。
显示设备130位于无人飞行***100的地面端,可以通过无线方式与无人机110进行通信,并且可以用于显示无人机110的姿态信息。另外,还可以在显示设备130上显示成像装置拍摄的图像。应理解,显示设备130可以是独立的设备,也可以集成在控制终端140中。
控制终端140位于无人飞行***100的地面端,可以通过无线方式与无人机110进行通信,用于对无人机110进行远程操纵。
应理解,上述对于无人飞行***各组成部分的命名仅是出于标识的目的,并不应理解为对本发明的实施例的限制。
图2为本发明一实施例提供的无人机的控制方法的流程图,如图2所示,本实施例的方法可以包括:
S201、获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度。
S202、获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置。
本实施例中,可以获取航空器的飞行参数,还可以获取无人机的飞行参数,需要说明的是,本实施例对获取航空器的飞行参数与获取无人机的飞行参数的顺序不做限定。其中,可以实时获取上述飞行参数,或者,按照预设间隔获取上述飞行参数。其中,获取航空器的飞行参数可以是:获取通过互联网发布的航空器的飞行参数,或者,获取无人机上的广播式自动相关监视(Automatic Dependent Surveillance Broadcast,ADS-B)设备接收到的航空器的飞行参数。可选地,获取通过互联网发送的飞行器的第一飞 行状态信息可以包括:通过预设的网站获取发布的飞行器的第一飞行状态信息,该预设的网站例如可以是一些专业的飞行器的状态信息查询或者发布的网站(例如www.flightradar24.com、zh.flightaware.com等)。
其中,航空器的飞行参数包括:飞行位置、飞行速度。可选地,航空器的飞行参数还可以包括:加速度、高度、身份信息中的一种或多种。
其中,无人机的飞行参数包括:飞行位置。可选地,该无人机的飞行参数还可以包括:飞行速度信息、加速度、高度、身份信息中的一种或多种。
S203、根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度。
本实施例中,根据当前获取到的航空器的飞行参数和无人机的飞行参数,确定无人机的避让飞行速度。该无人机的避让飞行速度使得无人机如果按照该避让飞行速度飞行时无人机远离航空器。
其中,上述的速度包括速度方向和速度大小,也可以认为速度可以用速度矢量来表示。
S204、根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。
本实施例中,在确定无人机的避让飞行速度之后,如果无人机以该避让飞行速度飞行,则根据航空器的飞行参数和无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,从当前时刻起所述无人机对所述航空器的最大威胁程度。该最大威胁程度可以表示无人机对该航空器造成的危险程度。
在一些实施例中,若无人机与航空器之间的距离越小,则说明无人机对航空器的威胁程度越大。因此,可以通过预测无人机与航空器之间的最小距离来预测无人机对航空器的最大威胁程度。其中,上述S204的一种可能的实现方式为:根据所述航空器的飞行参数和所述无人机的飞行参数,预测在所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,从当前时刻起所述无人机与所述航空器之间的最小距离;然后根据所述最小距离,确定所述无人机对所述航空器的最大威胁程度,例如可以通过如 下公式获得:
ρ
b,a=-min||P
a(t+t
0)-P
b(t+t
0)||
2。
其中,P
a表示航空器的位置,P
b表示无人机的位置,t
0表示当前时间,t+t
0从当前时刻t
0开始之后的时间,
ρb,a表示无人机对航空器的最大威胁程度,也可以称为最大威胁系数。由上述公式可知,最大威胁程度为最小距离的负值,
ρb,a越大表示无人机与航空器之间越危险,
ρb,a越小表示无人机与航空器之间越安全。
S205、根据所述最大威胁程度,执行防止碰撞操作。
本实施例中,在预测出无人机对航空器的最大威胁程度之后,根据该最大威胁程度,执行防止碰撞操作。
若可以获取多个航空器的飞行参数,则本实施例可以通过上述S201-S204预测无人机对每个航空器的最大威胁程度,然后根据从预测的无人机对所有航空器的最大威胁程度中,确定一个最大值,将该最大值作为执行S205中的最大威胁程度,该最大值表示无人机对所有航空器的威胁程度中的最大值。
在一些实施例中,在获取最大威胁程度之后,将最大威胁程度与预设威胁程度进行比较,如果最大威胁程度大于预设威胁程度,则控制无人机采用避让飞行速度飞行,以使无人机尽快远离航空器,避免无人机对航空器造成危险,防止干扰到航空器的飞行。若本实施例应用于无人机的控制终端,则控制终端在确定最大威胁程度大于预设威胁程度时,向无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。如果最大威胁程度小于等于预设威胁程度,则不采用所述避让飞行速度飞行,本实施例可以在无人机的控制终端的显示装置上显示提示信息,所述提示信息用于提示所述无人机对所述航空器的威胁程度,本实施例还可以对威胁程度进行等级划分,不同等级的威胁程度可以用不同颜色区分,因此提示信息可以通过不同的颜色来表示最大威胁程度的威胁等级,以提示用户注意避让。该提示信息还可以提示无人机的周围空域内的航空器的分布情况(例如飞行位置和飞行方向等)。如果本实施应用于无人机中,则无人机在确定最大威胁程度小于等于预设威胁程度之后,向无人机的控制终端发送提示信息,以便控制终端在显示装置上显示该提示信息。
可选地,预设威胁程度例如可以为-2350,这表示预测无人机与航空器 之间的最小距离小于2350米时,控制无人机采用避让飞行速度飞行。
在一些实施例中,若确定最大威胁程度大于预设威胁程度,则还判断无人机与地面的距离是否大于第一安全距离,该第一安全距离例如为10米。如果地面的距离大于第一安全距离,则控制无人机采用避让飞行速度飞行,以使无人机尽快远离航空器,避免无人机对航空器造成危险,防止干扰到航空器的飞行。如果无人机与地面的距离小于或等于第一安全距离,由于航空器一般不会接近地面的区域内飞行,为了防止无人机在接近地面飞行时不受到航空器的影响而产生突然机动,则不控制无人机采用避让飞行速度飞行;但本实施例可以控制无人机等待接收用户的操作指令(例如用户输入的控制杆量)并根据用户的操作指令进行飞行,或者,控制无人机悬停。本实施例还可以在无人机的控制终端的显示装置上显示提示信息,所述提示信息用于提示所述无人机对所述航空器的威胁程度。
在一些实施例中,若确定最大威胁程度大于预设威胁程度,则还判断所述无人机检测到前方第二安全距离内是否存在障碍物,该第二安全距离例如为10米,可选地,无人机可以通过视觉传感器或者雷达等检测到前方第二安全距离内是否存在障碍物。如果所述无人机检测到前方第二安全距离内不存在障碍物,则控制无人机采用避让飞行速度飞行,以使无人机尽快远离航空器,避免无人机对航空器造成危险,防止干扰到航空器的飞行。如果所述无人机检测到前方第二安全距离内存在障碍物,该障碍物可以为不移动的障碍物,则不控制无人机采用避让飞行速度飞行,而是控制无人机悬停。这是由于障碍物的存在,航空器一般会尽可能远离该障碍物飞行,而不会靠近障碍物飞行,所以当无人机与障碍物的距离较近时,可以认为无人机对航空器的干扰比较小,无人机可以不用采用避让飞行速度飞行,而是控制无人机悬停以避免无人机碰撞障碍物。本实施例还可以在无人机的控制终端的显示装置上显示提示信息,所述提示信息用于提示所述无人机对所述航空器的威胁程度。
在一些实施例中,在执行S203之前,判断无人机与地面的距离是否大于第一安全距离。如果无人机与地面的距离大于第一安全距离,则开启无人机的自动避让航空器功能,执行上述S203-S205。如果无人机与地面的距离小于等于第一安全距离,则关闭无人机的自动避让航空器功能,不执行 上述S203-S205。因此,本实施例可以通过判断无人机与地面的距离是否大于第一安全距离,来决定是否开启自动避让航空器功能,执行S203-S205,这样可以节省处理资源。
本实施例提供的无人机的控制方法,通过获取航空器的飞行参数以及无人机的飞行参数;根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作。本实施例先预测出无人机若避让航空器飞行,无人机对航空器的威胁程度,然后再执行防止碰撞操作,从而保证无人机从当前时刻起不干扰到航空器的正常飞行,保证了航空器的飞行安全。
在一些实施例中,在上述实施例的基础上,上述S203的一种可能的实现方式为:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。其中,相对飞行速度包括无人机在所述至少一个空间方向中每个空间方向上的最大许可飞行速度与航空器的飞行速度之间的相对飞行速度,所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。也就是,如图3所示,根据航空器的飞行位置(P
a)和无人机的飞行位置(P
b),确定航空器相对于所述无人机的位移(P
ab);还可以根据航空器的飞行速度(ν
a)与无人机在至少一个空间方向上的最大许可飞行速度(ν
b),确定相对飞行速度(ν
ab);再根据航空器相对于无人机的位移(P
ab),以及上述的相对飞行速度(ν
ab),从无人机在至少一个空间方向上的最大许可飞行速度中确定其中一个空间方向上的最大许可飞行速度为避让飞行速度。以便使无人机可以以最大允许机动能力远离航空器飞行。
可选地,在一种实现方式中,可以是根据位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。如图3所示,如果无人机的在各个空间方向上的最大许可速度的速度大小都是相同的,则各个空间方向上的最大许可飞行速度在空间上会构成一个空间体,例如球体,需要说明的是,而一般情况下, 有些无人机的水平速度大于上升速度、上升速度又大于下降速度,有些无人机的前向速度远大于垂直速度与侧向速度,并且没有后退速度,另外还要考虑当时的环境因素,例如风速,所以几乎所有的无人机在各个方向的速度都具有各向异性,上述的空间体可能是不规则形状的空间体。此时当某一空间方向上的最大许可飞行速度、该空间方向上的最大许可飞行速度与航空器的飞行速度之间的相对飞行速度、所述位移共面,且该共面与空间体的表面相切的时候,位移与相对飞行速度之间的夹角最大,因此该空间方向上的最大许可飞行速度即为避让飞行速度。若无人机在当前时刻起采用该避让飞行速度飞行,该无人机与航空器之间的最小距离为d
min。
在一些实施例中,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度包括:视觉避障有效时在至少一个空间方向上的最大许可飞行速度。可选地,在这种情况下,如果采用避让飞行速度执行避让飞行时,可以同时调整无人机偏航角与无人机水平运动方向一致,保证在避让过程中无人机仍能正常避开障碍物。
在一些实施例中,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。一般航空器飞行在无人机的上方,在确定无人机的避让飞行速度时,一般在执行避让操作时,不会控制无人机朝上方飞行,因此,该预设空间方向上的预设最大速度可以包括无人机水平朝下的各空间方向上的预设最大速度。
在一些实施例中,上述S204的一种可能的实现方式为:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
本实施例可以根据所述航空器的飞行位置和所述无人机的飞行位置确定所述无人机相对于所述航空器的位移,可以根据航空器的飞行速度与无人机的避让飞行速度确定航空器相对于无人机的相对飞行速度,然后根据所述无人机相对于所述航空器的位移和所述相对飞行速度,预测所述无人机采用所 述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。
可选地,在一种实现方式中,可以根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方。当所述无人机位于所述航空器的前方时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的所述最大威胁程度。当所述无人机位于所述航空器的后方时,根据所述无人机相对于所述航空器的位移,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的所述最大威胁程度。其中,航空器的前方的区域可以认为是航空器的飞行员的视野范围区域。
可选地,在另一种实现方式中,可以根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角。当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。当所述无人机相对于所述航空器的夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。
其中,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角的一种可能的实现方式为:根据所述无人机相对于所述航空器的位移和所述航空器的飞行速度,确定
的值;其中,ν
a表示当前时刻航空器的飞行速度,P
ba表示当前时刻所述无人机相对于所述航空器的位移,
表示所述航空器的飞行速度的转置。如果
的值大于0,则确定所述夹角不是钝角。如果
的值小于等于0,则确定所述夹角是钝角。
可选地,上述涉及的根据所述无人机相对于所述航空器的位移,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机 对所述航空器的最大威胁程度的一种实现方式为:根据||P
ba||
2,确定该最大威胁程度,其中,P
ba为当前时刻无人机相对于航空器的位移。也就是,在无人机位于航空器的后方,或者,所述无人机相对于航空器的位移与所述航空器的飞行速度之间的夹角是钝角时,所述无人机与航空器之间的最小距离为当前时刻无人机与航空器之间的距离。
可选地,上述涉及的根据所述无人机相对于航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度的一种实现方式为:
可选地,在另一些实施例中,与上述各实施例不同的是,不预测最大威胁程度,而是预测最小距离,再根据最小距离来执行防止碰撞操作,具体可以参见图4所示。图4为本发明另一实施例提供的无人机的控制方法的流程图,如图4所示,本实施例的方法可以包括:
S401、获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度。
S402、获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置。
本实施例中,S401和S402的具体实现过程可以参见图2所示实施例中的相关描述,此处不再赘述。
S403、根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离。
本实施例中,可以根据航空器的飞行参数、所述无人机的飞行参数, 可以预测无人机以分别在至少一个空间方向上的最大许可飞行速度飞行并保持不变的情况下,无人机与航空器之间的最小距离。
在一种可能的实现方式中,可以先根据所述航空器的飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定避让飞行速度;所述避让飞行速度为所述无人机在至少一个空间方向上的最大许可飞行速度中的其中之一,所述避让飞行速度用于使所述无人机远离所述航空器;然后根据所述航空器的飞行位置、飞行速度以及无人机的飞行位置,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离。具体实现过程可以参见上述各实施例中的描述,此处不再赘述。
S404、根据所述最小距离,执行防止碰撞操作。
本实施例中,在预测出无人机对航空器之间的最小距离之后,根据该最小距离,执行防止碰撞操作。其中,最小距离越小,表示无人机对航空器的最大威胁程度越大,最小距离越大,表示无人机对航空器的最大威胁程度越小。具体实现过程可以参见上述各实施例中的描述,此处不再赘述。
本实施例提供的无人机的控制方法,通过获取航空器的飞行参数以及无人机的飞行参数;根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离;根据所述最小距离,执行防止碰撞操作。本实施例先预测出无人机与航空器之间可能的最小距离,然后再执行防止碰撞操作,从而以保证无人机从当前时刻起不干扰到航空器的正常飞行,保证了航空器的飞行安全。
本发明实施例中还提供了一种计算机存储介质,该计算机存储介质中存储有程序指令,所述程序执行时可包括上述各实施例中的无人机的控制方法的部分或全部步骤。
图5为本发明一实施例提供的无人机的控制装置的结构示意图,如图5所示,本实施例的无人机的控制装置500可以包括:存储器501和处理器502。存储器501与处理器502通过总线连接。
上述处理器502可以是中央处理单元(Central Processing Unit,CPU),该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor, DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器501,用于存储执行无人机的控制方法的代码。
在一种实现方案中,所述处理器502,用于调用所述存储器501中存储的所述代码,执行:获取航空器的飞行参数,所述飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离;根据所述最小距离,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
可选地,所述处理器502,具体用于:根据所述航空器的飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定避让飞行速度;所述避让飞行速度为所述无人机在至少一个空间方向上的最大许可飞行速度中的其中之一,所述避让飞行速度用于使所述无人机远离所述航空器;根据所述航空器的飞行位置、飞行速度以及无人机的飞行位置,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离。
可选地,所述处理器502,具体用于:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
可选地,所述处理器502,具体用于:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与,所述位移之间的 夹角最大。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离。其中,所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方。当所述无人机位于所述航空器的前方时,则根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离;和/或,当所述无人机位于所述航空器的后方时,则根据所述无人机相对于所述航空器的位移,预测所述最小距离。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角。当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最小距离;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离。
可选地,所述处理器502,具体用于:在所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。
可选地,所述处理器502,具体用于:在所述无人机与地面的距离大于第一安全距离以及所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行。
可选地,所述处理器502,还用于:在所述最小距离大于或等于预设 距离时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信息。所述提示信息用于提示所述无人机对所述航空器的威胁程度。
可选地,所述处理器502,具体用于:在所述无人机检测到前方第二安全距离内存在障碍物以及所述最小距离小于预设距离时,控制所述无人机悬停。
可选地,所述处理器502,具体用于:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机与所述航空器之间的最小距离。
可选地,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度为:视觉避障有效时至少一个空间方向上的最大许可飞行速度。
可选地,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
可选地,所述处理器502,具体用于:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备探测到的航空器的飞行参数。
在另一种实现方案中,所述处理器502,用于调用所述存储器501中存储的所述代码,执行:获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
可选地,所述处理器502,具体用于:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置 和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
可选地,所述处理器502,具体用于:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度。其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与所述位移之间的夹角最大。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度。所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方。当所述无人机位于所述航空器的前方时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度;和/或,当所述无人机位于所述航空器的后方时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度。
可选地,所述处理器502,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角。当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度。
可选地,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度包括:视觉避障有效时在至少一个空间方 向上的最大许可飞行速度。
可选地,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
可选地,所述处理器502,具体用于:在所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。
可选地,所述处理器502,具体用于:在所述无人机与地面的距离大于第一安全距离以及所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行。
可选地,所述处理器502,还用于:在所述最大威胁程度小于或等于预设威胁程度时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信息;所述提示信息用于提示所述无人机对所述航空器的威胁程度。
可选地,所述处理器502,具体用于:在所述无人机检测到前方第二安全距离内存在障碍物以及在所述最大威胁程度大于预设威胁程度时,控制所述无人机悬停。
可选地,所述处理器502,具体用于:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度。
可选地,所述处理器502,具体用于:预测在所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离;根据所述最小距离,确定所述最大威胁程度。
可选地,所述处理器502,具体用于:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备接收到的航空器的飞行参数。
本实施例的装置,可以用于执行本发明上述各方法实施例的技术方案,其实现原理和技术效果类似,此处不再赘述。
图6为本发明一实施例提供的无人机的结构示意图,如图6所示,本实施例的无人机600可以包括:无人机的控制装置601。其中,无人机的控制 装置601可以采用图5所示装置实施例的结构,其对应地,可以执行本发明上述各方法实施例的技术方案,其实现原理和技术效果类似,此处不再赘述。可选地,本实施例的无人机可以包括螺旋桨(图中未示出),无人机的控制装置601可以通过控制螺旋桨的旋转来控制无人机采用避让飞行速度飞行或控制无人机悬停。
在另一实施例中,本发明还提供一种地面控制设备,该地面控制设备用于控制无人机,该地面控制设备可以包括无人机的控制装置,该无人机的控制装置可以采用图5所示装置实施例的结构,其对应地,可以执行本发明上述各方法实施例的技术方案,其实现原理和技术效果类似,此处不再赘述。
本领域普通技术人员可以理解:实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成,前述的程序可以存储于一计算机可读取存储介质中,该程序在执行时,执行包括上述方法实施例的步骤;而前述的存储介质包括:只读内存(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (61)
- 一种无人机的控制方法,其特征在于,包括:获取航空器的飞行参数,所述飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离;根据所述最小距离,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
- 根据权利要求1所述的方法,其特征在于,所述根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离,包括:根据所述航空器的飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定避让飞行速度;所述避让飞行速度为所述无人机在至少一个空间方向上的最大许可飞行速度中的其中之一,所述避让飞行速度用于使所述无人机远离所述航空器;根据所述航空器的飞行位置、飞行速度以及无人机的飞行位置,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离。
- 根据权利要求2所述的方法,其特征在于,所述根据所述航空器的飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定避让飞行速度,包括:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
- 根据权利要求3所述的方法,其特征在于,根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度,包括:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与,所述位移之间的夹角最大。
- 根据权利要求2-4任一项所述的方法,其特征在于,所述根据所述航空器的飞行位置、飞行速度和无人机的飞行位置,预测所述无人机采用避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离,包括:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离;其中,所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
- 根据权利要求5所述的方法,其特征在于,所述根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离,包括:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方;当所述无人机位于所述航空器的前方时,则根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离;和/或,当所述无人机位于所述航空器的后方时,则根据所述无人机相对于所述航空器的位移,预测所述最小距离。
- 根据权利要求5所述的方法,其特征在于,所述根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离,包括:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角;当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最小距离;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离。
- 根据权利要求2-7任一项所述的方法,其特征在于,所述根据所述最小距离,执行防止碰撞操作,包括:在所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求8所述的方法,其特征在于,在所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行,包括:在所述无人机与地面的距离大于第一安全距离以及所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求8或9所述的方法,其特征在于,还包括:在所述最小距离大于或等于预设距离时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信息;所述提示信息用于提示所述无人机对所述航空器的威胁程度。
- 根据权利要求1-7任一项所述的方法,其特征在于,所述根据所述最小距离,执行防止碰撞操作,包括:在所述无人机检测到前方第二安全距离内存在障碍物以及所述最小距离小于预设距离时,控制所述无人机悬停。
- 根据权利要求1-11任一项所述的方法,其特征在于,所述根据所 述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机与所述航空器之间的最小距离,包括:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机与所述航空器之间的最小距离。
- 根据权利要求1-12任一项所述的方法,其特征在于,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度为:视觉避障有效时至少一个空间方向上的最大许可飞行速度。
- 根据权利要求1-12任一项所述的方法,其特征在于,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
- 根据权利要求1-14任一项所述的方法,其特征在于,所述获取航空器的飞行参数,包括:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备探测到的航空器的飞行参数。
- 一种无人机的控制方法,其特征在于,包括:获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
- 根据权利要求16所述的方法,其特征在于,所述根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度,包括:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
- 根据权利要求17所述的方法,其特征在于,根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度,包括:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与所述位移之间的夹角最大。
- 根据权利要求16-18任一项所述的方法,其特征在于,所述根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度,包括:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
- 根据权利要求19所述的方法,其特征在于,所述根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度,包括:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方;当所述无人机位于所述航空器的前方时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度;和/或,当所述无人机位于所述航空器的后方时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度。
- 根据权利要求19所述的方法,其特征在于,所述根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况时,所述无人机对所述航空器的最大威胁程度,包括:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角;当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度。
- 根据权利要求17-21任一项所述的方法,其特征在于,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度包括:视觉避障有效时在至少一个空间方向上的最大许可飞行速度。
- 根据权利要求17-21任一项所述的方法,其特征在于,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
- 根据权利要求16-23任一项所述的方法,其特征在于,所述根据所述最大威胁程度,执行防止碰撞操作,包括:在所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求24所述的方法,其特征在于,所述在所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行,包括:在所述无人机与地面的距离大于第一安全距离以及所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求24或25所述的方法,其特征在于,还包括:在所述最大威胁程度小于或等于预设威胁程度时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信息;所述提示信息用于提示所述无人机对所述航空器的威胁程度。
- 根据权利要求16-23任一项所述的方法,其特征在于,所述根据所述最大威胁程度,执行防止碰撞操作,包括:在所述无人机检测到前方第二安全距离内存在障碍物以及在所述最大威胁程度大于预设威胁程度时,控制所述无人机悬停。
- 根据权利要求16-27任一项所述的方法,其特征在于,所述根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度,包括:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度。
- 根据权利要求16-28任一项所述的方法,其特征在于,预测所述无人机与所述航空器之间的最大威胁程度,包括:预测在所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离;根据所述最小距离,确定所述最大威胁程度。
- 根据权利要求16-29任一项所述的方法,其特征在于,所述获取航空器的飞行参数,包括:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备接收到的航空器的飞行参数。
- 一种无人机的控制装置,其特征在于,包括:存储器和处理器;所述存储器,用于存储执行无人机的控制方法的代码;所述处理器,用于调用所述存储器中存储的所述代码,执行:获取航空器的飞行参数,所述飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数、所述无人机的飞行参数、所述无人机在至少一个空间方向上的最大许可飞行速度,预测所述无人机与所述航空器之间的最小距离;根据所述最小距离,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
- 根据权利要求31所述的装置,其特征在于,所述处理器,具体用于:根据所述航空器的飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定避让飞行速度;所述避让飞行速度为所述无人机在至少一个空间方向上的最大许可飞行速度中的其中之一,所述避让飞行速度用于使所述无人机远离所述航空器;根据所述航空器的飞行位置、飞行速度以及无人机的飞行位置,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离。
- 根据权利要求32所述的装置,其特征在于,所述处理器,具体用于:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
- 根据权利要求33所述的装置,其特征在于,所述处理器,具体用于:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与,所述位移之间的夹角最大。
- 根据权利要求32-34任一项所述的装置,其特征在于,所述处理器, 具体用于:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离;其中,所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
- 根据权利要求35所述的装置,其特征在于,所述处理器,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方;当所述无人机位于所述航空器的前方时,则根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离;和/或,当所述无人机位于所述航空器的后方时,则根据所述无人机相对于所述航空器的位移,预测所述最小距离。
- 根据权利要求35所述的装置,其特征在于,所述处理器,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角;当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最小距离;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最小距离。
- 根据权利要求32-37任一项所述的装置,其特征在于,所述处理器,具体用于:在所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用 于控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求38所述的装置,其特征在于,所述处理器,具体用于:在所述无人机与地面的距离大于第一安全距离以及所述最小距离小于预设距离时,控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求38或39所述的装置,其特征在于,所述处理器,还用于:在所述最小距离大于或等于预设距离时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信息;所述提示信息用于提示所述无人机对所述航空器的威胁程度。
- 根据权利要求31-37任一项所述的装置,其特征在于,所述处理器,具体用于:在所述无人机检测到前方第二安全距离内存在障碍物以及所述最小距离小于预设距离时,控制所述无人机悬停。
- 根据权利要求31-41任一项所述的装置,其特征在于,所述处理器,具体用于:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机与所述航空器之间的最小距离。
- 根据权利要求31-42任一项所述的装置,其特征在于,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度为:视觉避障有效时至少一个空间方向上的最大许可飞行速度。
- 根据权利要求31-42任一项所述的装置,其特征在于,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
- 根据权利要求31-44任一项所述的装置,其特征在于,所述处理器,具体用于:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备探测到的航空器的飞行参数。
- 一种无人机的控制装置,其特征在于,包括:存储器和处理器;所述存储器,用于存储执行无人机的控制方法的代码;所述处理器,用于调用所述存储器中存储的所述代码,执行:获取航空器的飞行参数,所述航空器的飞行参数包括:飞行位置、飞行速度;获取无人机的飞行参数,所述无人机的飞行参数包括:飞行位置;根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速 度;根据所述航空器的飞行参数和所述无人机的飞行参数,预测所述无人机以所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;根据所述最大威胁程度,执行防止碰撞操作;其中,所述速度包括速度方向和速度大小。
- 根据权利要求46所述的装置,其特征在于,所述处理器,具体用于:根据所述航空器相对于所述无人机的位移,以及相对飞行速度,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述相对飞行速度包括所述无人机在所述至少一个空间方向上的最大许可飞行速度与所述航空器的飞行速度之间的相对飞行速度;所述位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述位移包括所述航空器相对于所述无人机的方向与距离大小。
- 根据权利要求47所述的装置,其特征在于,所述处理器,具体用于:根据所述位移与所述相对飞行速度之间的夹角,从所述无人机在至少一个空间方向上的最大许可飞行速度中确定所述避让飞行速度;其中,所述避让飞行速度使得所述航空器的飞行速度与所述避让飞行速度之间的相对飞行速度,与所述位移之间的夹角最大。
- 根据权利要求46-48任一项所述的装置,其特征在于,所述处理器,具体用于:根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机对所述航空器的最大威胁程度;所述无人机相对于所述航空器的位移由所述航空器的飞行位置和所述无人机的飞行位置确定,所述无人机相对于所述航空器的位移包括所述无人机相对于所述航空器的方向与距离大小。
- 根据权利要求49所述的装置,其特征在于,所述处理器,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机是否位于所述航空器的前方;当所述无人机位于所述航空器的前方时,根据所述无人机相对于所述 航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度;和/或,当所述无人机位于所述航空器的后方时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度。
- 根据权利要求49所述的装置,其特征在于,所述处理器,具体用于:根据所述无人机相对于所述航空器的位移以及所述航空器的飞行速度,确定所述无人机相对于所述航空器的位移与所述航空器的飞行速度之间的夹角是否为钝角;当所述夹角为钝角时,根据所述无人机相对于所述航空器的位移,预测所述最大威胁程度;和/或,当所述夹角不是钝角时,根据所述无人机相对于所述航空器的位移,以及所述航空器的飞行速度相对于所述避让飞行速度的相对飞行速度,预测所述最大威胁程度。
- 根据权利要求47-51任一项所述的装置,其特征在于,当所述无人机开启视觉避障功能时,所述无人机在至少一个空间方向上的最大许可飞行速度包括:视觉避障有效时在至少一个空间方向上的最大许可飞行速度。
- 根据权利要求47-51任一项所述的装置,其特征在于,所述无人机在至少一个空间方向上的最大许可飞行速度包括:预设空间方向上的预设最大速度。
- 根据权利要求46-53任一项所述的装置,其特征在于,所述处理器,具体用于:在所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行;或者,向所述无人机发送飞行控制指令,所述飞行控制指令用于控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求54所述的装置,其特征在于,所述处理器,具体用于:在所述无人机与地面的距离大于第一安全距离以及所述最大威胁程度大于预设威胁程度时,控制所述无人机采用所述避让飞行速度飞行。
- 根据权利要求54或55所述的装置,其特征在于,所述处理器,还用于:在所述最大威胁程度小于或等于预设威胁程度时,在无人机的控制终端的显示装置上显示提示信息,或者,向无人机的控制终端发送提示信 息;所述提示信息用于提示所述无人机对所述航空器的威胁程度。
- 根据权利要求46-53任一项所述的装置,其特征在于,所述处理器,具体用于:在所述无人机检测到前方第二安全距离内存在障碍物以及在所述最大威胁程度大于预设威胁程度时,控制所述无人机悬停。
- 根据权利要求46-57任一项所述的装置,其特征在于,所述处理器,具体用于:在所述无人机与地面的距离大于第一安全距离时,根据所述航空器的飞行参数和所述无人机的飞行参数,确定所述无人机的避让飞行速度。
- 根据权利要求46-58任一项所述的装置,其特征在于,所述处理器,具体用于:预测在所述无人机采用所述避让飞行速度飞行且保持速度不变的情况下,所述无人机与所述航空器之间的最小距离;根据所述最小距离,确定所述最大威胁程度。
- 根据权利要求46-59任一项所述的装置,其特征在于,所述处理器,具体用于:获取通过互联网发布的航空器的飞行参数;和/或,获取所述无人机上的广播式自动相关监视设备接收到的航空器的飞行参数。
- 一种无人机,其特征在于,包括:如权利要求31-45任一项所述的无人机的控制装置,或者,如权利要求46-60任一项所述的无人机的控制装置。
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