WO2022247475A1 - 飞行控制方法、装置、无人机及存储介质 - Google Patents
飞行控制方法、装置、无人机及存储介质 Download PDFInfo
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- 230000008447 perception Effects 0.000 claims description 38
- 238000004891 communication Methods 0.000 claims description 28
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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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
Definitions
- the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a flight control method and device, an unmanned aerial vehicle, and a storage medium.
- the UAV is a remote-controlled device, so the flight of the UAV needs to be controlled by the user with the help of a remote terminal (remote control or remote control center) to ensure that the UAV can safely fly to the destination.
- a remote terminal remote control or remote control center
- UAV B avoids UAV A. It cannot send control instructions to UAV B alone, but sends control instructions to avoid UAV A to all UAVs in the current area, that is, the existing flight
- the control scheme can only send messages to a certain area, but cannot send messages to a specific location.
- the purpose of the embodiment of the present application is to provide a flight control method, device, drone and storage medium.
- An embodiment of the present application provides a flight control method applied to a first unmanned aerial vehicle, the flight control method includes: determining the position information and flight speed of the second unmanned aerial vehicle relative to the aircraft; Two drones, according to the corresponding position information and the flight speed, determine whether it will affect the flight of the aircraft; if it will affect, adjust the flight direction and/or flight speed of the aircraft; and/or, through a short distance
- the communication interface sends warning information to the second UAV that affects the aircraft, so that the second UAV adjusts the flight direction and/or flight speed according to the warning information.
- the embodiment of the present application also provides a flight control device, including: a first determination module, configured to determine the position information and flight speed of the second drone relative to the aircraft; a second determination module, configured to The second unmanned aerial vehicle, according to the corresponding position information and the flight speed, determines whether it will affect the flight of the aircraft; the control module is configured to determine in the second determination module that it will affect the flight of the aircraft , adjust the flight direction and/or flight speed of the aircraft; and/or send warning information to the second drone that affects the aircraft through the short-distance communication interface, so that the second drone can Adjust the flight direction and/or flight speed according to the warning message above.
- a flight control device including: a first determination module, configured to determine the position information and flight speed of the second drone relative to the aircraft; a second determination module, configured to The second unmanned aerial vehicle, according to the corresponding position information and the flight speed, determines whether it will affect the flight of the aircraft; the control module is configured to determine in the second determination module that it will affect the flight of the
- the embodiment of the present application also provides an unmanned aerial vehicle, including: a memory communicated with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by The at least one processor executes to enable the at least one processor to execute the flight control method as described above.
- the embodiment of the present application also provides a computer-readable storage medium storing a computer program.
- the computer program is executed by the processor, the above-mentioned flight control method is realized.
- Fig. 1 is a schematic flow chart of the flight control method provided by the embodiment of the present application.
- Fig. 2 is a schematic diagram of determining the position information of the second UAV relative to the aircraft in the flight control method shown in Fig. 1;
- Fig. 3 is another flow chart of the flight control method provided by the embodiment of the present application.
- Fig. 4 is a schematic diagram of determining the position information of the second UAV relative to the aircraft based on the space perception component in the flight control method shown in Fig. 3;
- Fig. 5 is a schematic diagram of determining the flight state of the second unmanned aerial vehicle in the flight control method shown in Fig. 3;
- Fig. 6 is a schematic diagram of determining the position information of the second UAV relative to the aircraft based on the sensor in the flight control method shown in Fig. 3;
- Fig. 7 is a schematic structural diagram of the flight control device provided by the embodiment of the present application.
- Fig. 8 is a schematic structural diagram of the drone provided by the embodiment of the present application.
- FIG. 1 is a flow chart of a flight control method provided in an embodiment of the present application.
- the method is mainly applied to unmanned aerial vehicles.
- the drone that needs to determine the position information and flight speed of other drones relative to the own aircraft is called the first drone, and the other drones are called the second drone.
- the first unmanned aerial vehicle may also be regarded as the second unmanned aerial vehicle.
- the second unmanned aerial vehicle may also be regarded as the first unmanned aerial vehicle.
- UAV A if it is desired to determine the position information and flight speed of UAV B relative to it, UAV A is the first UAV, and UAV B is the second UAV; Conversely, for UAV B, if it is desired to determine the position information and flight speed of UAV A relative to it, UAV B is the first UAV, and UAV A is the second UAV.
- any drone itself it is the first drone, and for other drones, it is the second drone.
- the flight control method provided by this embodiment includes the following steps.
- Step 101 determine the position information and flight speed of the second UAV relative to the own UAV.
- the position information of the second UAV relative to the first UAV includes the actual distance difference between the second UAV and the first UAV at different times, and the distance.
- the first UAV determines the position information and flight speed of the second UAV relative to its own aircraft, it transmits and receives electromagnetic waves through various technologies, and then according to the electromagnetic wave The propagation intensity, propagation time, propagation speed, etc. are determined.
- the above-mentioned technologies for determining the position information and flight speed of the second UAV relative to the aircraft include but are not limited to: Global Positioning System (Global Positioning System, GPS), 4G/5G and other cellular networks, wireless Fidelity (Wireless Fidelity, WiFi) and other near-field communication technologies.
- this embodiment uses WiFi as a short-distance communication technology for the sake of specific description of determining the location information of the second UAV relative to the UAV with reference to FIG. 2 .
- UAV B is the first UAV, that is, as the origin, and its velocity relative to the second UAV, ie, UAV A in FIG. 2 , is the origin.
- the flying speed of UAV A relative to UAV B is v. If at time t1, UAV B receives the strength of the near-field communication signal sent by UAV A through WiFi as R1, and at time t2 receives the strength of the near-field communication signal sent by UAV A through WiFi as R2, Then the signal strength difference is ⁇ R.
- Step 102 for each second UAV, determine whether it will affect the flight of the UAV according to the corresponding position information and the flight speed.
- UAV B receives UAV A's near-field communication signal strength at time t1 is R1 greater than UAV B at t2 time UAV B receives UAV A's near-field communication signal strength at R2, then it is considered that ⁇ R When the intensity increases, it can be considered that the relative distance between UAV A and UAV B is approaching; anyway, the relative distance between UAV A and UAV B is considered to be farther away.
- UAV A the second UAV
- UAV B the first UAV
- the required safety distance will be different during emergency braking, so the distance between the two is determined according to the current flight speed of UAV B relative to UAV A, that is, Whether the aforementioned L2 satisfies the safety distance corresponding to the flying speed v.
- UAV A will not affect the flight of UAV B at the current moment, and this time it is not necessary to control UAV A and/or UAV B to their respective flight directions and/or flying speeds Make adjustments and continue to fly in the current state; if not satisfied, it is considered that UAV A will affect the flight of UAV B at the current moment, that is, the operation of step 103 needs to be performed.
- this embodiment provides two ways of judging whether the UAV B and the UAV A are on the same flight path, as follows.
- the moving angle ⁇ determines whether L1 is equal to L, and whether ⁇ is equal to ⁇ 1 , if equal, it is determined that UAV A and UAV B are flying on the same flight path; otherwise, it is determined that UAV A and UAV B are flying on different flight paths.
- the relative position of UAV A (the second UAV) relative to UAV B (the first UAV) is determined by GPS positioning, after obtaining the GPS positioning information of UAV A, it can be based on the position
- the function corresponding to the flight path of the drone B is also calculated based on the GPS and the above method. Then, by comparing the corresponding flight path functions of the two UAVs, it is determined whether the flight paths of the two drones are the same.
- Step 103 if it will be affected, adjust the flight direction and/or flight speed of the aircraft; and/or, send warning information to the second drone that affects the aircraft through the short-distance communication interface, so that the second The drone adjusts the flight direction and/or flight speed according to the warning information.
- adjustments include the following three.
- the following logic can be set to control the flight of the drone.
- the second unmanned aerial vehicle of this machine sends warning information, so that the second unmanned aerial vehicle adjusts the flight direction and/or flight speed according to the warning information, thereby ensuring that the first unmanned aerial vehicle and the second unmanned aerial vehicle Able to avoid each other to ensure safe flight.
- the adjustment performed after receiving the warning information sent by the first UAV is similar to the adjustment method performed by the first UAV, and will not be repeated here.
- the flight control method provided by this embodiment is based on the principle of relative position and relative speed.
- the position information and flight speed of the second UAV can be accurately located relative to the first UAV, so that the second UAV can be determined according to the position information and flight speed of the second UAV relative to the first UAV.
- the UAV will affect the flight of the first UAV, set the first UAV to adjust its own flight direction and/or flight speed, or notify the second UAV to adjust the flight direction and/or flight speed through the short-distance communication interface.
- Flight speed so that without relying on the remote control terminal, you can send a message to the second drone at a specific location to achieve flight control and ensure that the first drone can fly to the destination safely.
- the flight control method provided by this embodiment does not require user participation, no matter whether it is the flight control of the first UAV or the flight space of the second UAV, it reduces labor costs and avoids user intervention. Participate in handling untimely accidents that lead to drone collisions.
- FIG. 2 is a flow chart of the flight control method provided by the embodiment of the present application. In this embodiment, the method is also applied to the above-mentioned first drone.
- GNSS Global Navigation Satellite System
- WiFi Wireless Fidelity
- GNSS signals are highly attenuated indoors, resulting in a serious decrease in positioning accuracy; based on the base station positioning method, if you want to ensure the accuracy of location information, you need to deploy a large number of base stations to cover various areas and scenarios, which will undoubtedly increase the cost of implementation; Based on the wireless communication positioning method, the use of the wireless network will not only generate additional costs, but also the positioning depends entirely on the information on the wireless network side. Therefore, once the wireless network fails, the positioning function will be affected.
- the UAVs involved in this embodiment are equipped with space perception components, so that through space perception
- the component is used to determine the position information and speed of the second UAV relative to the first UAV, which solves the problem that the existing positioning is too dependent on the network and the base station, resulting in inaccurate positioning when there is no network and no base station. Even technical problems that cannot be located.
- the space sensing component set by the first drone is called the first space sensing component
- the space sensing component set by the second drone is called the second space sensing component
- the spatial sensing components mentioned in this embodiment specifically use low-priced and highly popular spatial sensing components, such as millimeter wave ranging components, ultrasonic ranging components, ultra-wideband (Ultra Wide Band, UWB) ranging components and other ranging components with strong penetrating power, low power consumption, good interference effect, high security, large space capacity, and accurate ranging.
- millimeter wave ranging components ultrasonic ranging components
- ultra-wideband (Ultra Wide Band, UWB) ranging components and other ranging components with strong penetrating power, low power consumption, good interference effect, high security, large space capacity, and accurate ranging.
- the space perception component no matter it is set on the first drone or the second drone can be in the form of an antenna or a label, such as in the first drone, the second drone
- millimeter-wave antennas, ultrasonic antennas, and UWB antennas are set as space perception components.
- UWB stickers can be pasted on the outer surface of such drones, so that This type of drone can use UWB stickers to exchange information with other drones and devices equipped with UWB stickers or UWB antennas.
- the sensing components are the same spatial sensing component, that is, if the first spatial sensing component is a millimeter-wave antenna, the second spatial sensing component should also be a millimeter-wave antenna.
- the flight control method provided by this embodiment includes the following steps.
- Step 301 select any point of the local machine as the origin of the three-dimensional coordinate system.
- the determination of the origin may take into account various factors such as the shape of the first drone and the usage scenario.
- any point on (including inside) the first drone can be selected as the origin of the three-dimensional coordinate system.
- the internal center point can be selected as the origin of the three-dimensional coordinate system.
- the above-mentioned three-dimensional coordinate system can be regarded as a standard three-dimensional coordinate system, that is, for this three-dimensional coordinate system, the coordinates of each point on the first UAV are fixed. .
- the source of the standard three-dimensional coordinate system it can be constructed based on the selected point as the origin, or it can be constructed based on any three points on the first UAV relative to an initial UAV.
- the three-dimensional coordinate system, and then the origin of the initial three-dimensional coordinate system coincides with the selected point, and then obtained.
- Step 302 selecting at least three coordinate points from the first space perception component, and determining coordinate information of each coordinate point relative to the origin.
- Position information at least need to determine the coordinate information of three coordinate points and the distance between a certain point of the second space perception component on the second UAV (including inside) and these three coordinate points, so that this point on the second UAV can be determined
- the coordinate information of the second UAV is to determine the position information of the second UAV. Therefore, it is necessary to select at least three coordinate points from the first space perception component, and determine the coordinate information of each coordinate point relative to the origin (hereinafter represented by O(0,0,0)).
- the selected at least three coordinate points are coordinate points located in different areas on the same space perception component; If multiple first space perception components are set in the man-machine, then the selected at least three coordinate points may be located on the same first space perception component or on different first space perception components. In this embodiment There is no restriction on this.
- this embodiment does not limit the specific location of the first space perception component in the first drone and the location of the second space component in the second drone.
- Step 303 obtain the flight speed of the second UAV relative to the UAV and the distance between any point on the second space perception component and each coordinate point through the short-distance communication interface.
- the short-distance communication interface mentioned in this embodiment specifically refers to the PC5 interface involved in the vehicle wireless communication technology (vehicle to X, V2X).
- PC5 interface refers to the terminal-to-terminal direct communication interface introduced in the 3GPP Rel-12de device to device (Device to Device, D2D) project. That is, adjacent terminals can transmit data through a direct link within a short distance, without forwarding through a central node (i.e., a base station), and without using traditional cellular links for information transmission between two objects .
- a central node i.e., a base station
- the first UAV and the second UAV can exchange information without relying on the network and the base station.
- the first UAV can continuously send out V2X signals (hereinafter referred to as the first V2X signal) with device identifiers that can identify themselves, and receive the second UAV at the same time.
- V2X signals hereinafter referred to as the first V2X signal
- the V2X signal (hereinafter referred to as the second V2X information) sent by the second UAV with the device identification capable of identifying itself, and the feedback made by the second UAV upon receiving the first V2X signal sent by the first UAV , and by recording the time of sending the first V2X signal record, the time of receiving the feedback made for the first V2X signal, and the transmission time of the V2X signal and the feedback to determine the distance from each selected coordinate point on the spatial perception component to the second wireless The distance between man and machine.
- the second V2X information sent by the second UAV with the device identification capable of identifying itself, and the feedback made by the second UAV upon receiving the first V2X signal sent by the first UAV , and by recording the time of sending the first V2X signal record, the time of receiving the feedback made for the first V2X signal, and the transmission time of the V2X signal and the feedback to determine the distance from each selected coordinate point on the spatial perception component to the second wireless The distance between man and machine.
- the flight speed of the second UAV it can be sent to the first UAV through the PC5 interface between the second UAV, and the second UAV will be based on the current flight speed of the aircraft and the second UAV received.
- the flying speed of the drone can determine the flying speed of the second drone relative to the drone.
- Step 304 according to the coordinate information of each of the coordinate points and the distance from each of the coordinate points, locate the position information of the second UAV relative to the own aircraft in the three-dimensional coordinate system.
- the first drone is A in Figure 4, and the second drone authorized by A is B in Figure 4.
- the selected coordinate points located in the first space perception component are A 1 , A 2 , A 3
- the coordinate information corresponding to these three coordinate points are A 1 (X 1 , Y 1 , Z 1 ), A 2 ( X 2 , Y 2 , Z 2 ), A 3 (X 3 , Y 3 , Z 3 ), at time t1
- the distance from a point on B to A 1 obtained by A through the PC5 interface is D 1
- the distance from A 2 The distance from is D 2
- the distance from A 3 is D3.
- the coordinate information of this point on B can be determined, and then used as the location information of B.
- the finally positioned position information of B relative to A is (X B , Y B , Z B ).
- the second drone is located according to the above method, as shown in Figure 4.
- B is relative to the first drone, as shown in Figure 4
- the position information of A in it can also be determined that the second UAV is relative to the first UAV in the earth coordinate system according to the origin of the first UAV determined above and the position information of the second UAV relative to the first UAV.
- the location information of the drone is not limited to the above method, as shown in Figure 4.
- ⁇ D is the angle of C relative to D on the XY horizontal plane
- ⁇ D is the angle of C relative to D on the XY horizontal plane
- the second UAV in order to exchange information with the first UAV through the PC5 interface, the second UAV is also equipped with a space perception component, that is, the second space perception component, so that it can determine the distance between the two. the distance. Therefore, any second UAV is essentially a first UAV.
- the second unmanned aerial vehicle E (Fig. Not shown in ) is transmitted to D.
- E is the second UAV authorized by C, but not authorized by D, that is, D cannot directly interact with E, and the position information of E transmitted by C to D is essentially the position information of E relative to C.
- D when D obtains the distance from at least three coordinate points selected on the first space perception component on D from authorized C through the PC5 interface, it can also obtain from C the position of E relative to C that is associated with C's authorization information, and then D can locate the position information of E relative to D based on the position information of C relative to D and the position information of E relative to C, so that D can still accurately locate the position of E relative to D without information interaction with E location information.
- the first UAV obtains from the second UAV that is authorized to associate with the second UAV through the short-distance communication interface, but is not authorized to associate with itself.
- the position information and flight speed of the second UAV relative to the second UAV; according to the position information of the second UAV relative to the aircraft and the other second UAV relative to the second UAV Determine the position information of the other second UAV relative to the aircraft; according to the flight speed of the second UAV relative to the aircraft and the other second UAV relative to the second UAV
- the flight speed of the aircraft determines the flight speed of the other second unmanned aerial vehicles relative to the aircraft.
- any UAV it only needs to communicate with the UAV that has obtained authorization and association, and with the help of the UAV that has obtained authorization and association, it can obtain the location information and location information of other UAVs that have not obtained authorization and association. flight speed.
- the computing information is in the computing chip, such as the processor in the first UAV done, the obtained results are stored in the data chip.
- the data chip for example, it is the internal memory, storage, etc. in the first drone, which is not limited in this embodiment.
- the above-mentioned computing chip and data chip can be combined into one, that is, as long as both functions are available in practical applications.
- the third drone there may be multiple second unmanned aerial vehicles associated with the first unmanned aerial vehicle, and there may be multiple second unmanned aerial vehicles around each second unmanned aerial vehicle.
- the man-machine at this time the second drone is regarded as the first drone obtains the authorized associated second drone (hereinafter referred to as the third drone).
- the distance and the third UAV obtained from any second UAV that obtains authorized association through the PC5 interface When the position information of the UAV relative to the second UAV is obtained, the device identification identifying each UAV will be obtained through the PC5 interface, so as to distinguish the distance, position information, flight speed and other information corresponding to different UAVs according to the device identification.
- the equipment identification, relative position information and flight speed of each second UAV can be carried out. storage.
- Step 305 for each second UAV, determine whether it will affect the flight of the UAV according to the corresponding position information and the flight speed.
- the position information and the flight speed corresponding to at least two moments that meet the preset conditions are selected from the storage area, and according to at least two moments Corresponding to the location information, determine the flight status of the second drone.
- the preset condition can be to specify the selection of adjacent time points; otherwise, it can be to select one time interval or multiple time intervals, etc., which will not be listed here. This embodiment does not limit this either.
- the second UAV Whether the distance from the aircraft satisfies the safety distance corresponding to the flight speed, if not, it is determined that the flight of the aircraft will be affected; anyway, it is considered that the second UAV will not affect the flight of the aircraft.
- the first UAV when the first UAV is flying towards the second UAV, judge the difference between the two UAVs. Before the distance between the drones satisfies the safety distance corresponding to the flight speed, it can be further judged whether the first UAV and the second UAV are flying on the same flight path. The step of the safe distance corresponding to the speed, otherwise the second UAV will not affect the flight of the first UAV.
- the method of determining the above-mentioned flight path it is specifically determined according to the origin selected on the first UAV and the position information of the second UAV relative to the first UAV corresponding to at least two moments obtained above.
- the moving distance and moving angle of the second UAV relative to the machine in the earth coordinate system then, according to the moving distance and the moving angle, determine whether the second UAV is on the same flight path as the machine on the flight.
- the position information and flight speed of the second UAV relative to the first UAV are not determined based on the above-mentioned space perception components, but based on various sensors set on the second UAV, such as acceleration The acceleration direction, acceleration magnitude, flight direction and flight angle of the second UAV acquired by the sensing and geomagnetic sensors are determined. Then, when determining whether the second UAV is flying on the same flight path as the aircraft, it is necessary to first determine the flight state of the second UAV according to the acceleration direction, acceleration size, flight direction and flight angle of the second UAV.
- UAV A in FIG. 6 is the second UAV, and both UAV B and UAV C are the first UAV relative to UAV A.
- the determination of the flight state of UAV A is as follows.
- UAV A and UAV B when determining whether UAV A is on the same flight path, UAV A and UAV B can also be determined based on the signal strength difference and the corresponding formula, as well as the path function. Is the flight path of UAV C the same.
- Step 306 adjust the flight direction and/or flight speed of the aircraft; and/or, send warning information to the second UAV affecting the aircraft through the short-distance communication interface, so that the second UAV can
- the warning information adjusts the flight direction and/or flight speed.
- step 306 in this embodiment is substantially the same as step 103 in the embodiment shown in FIG. 1 , and will not be repeated here.
- the first UAV determines the position information and flight speed of the second UAV relative to its own aircraft, it does not rely on the existing base station and wireless network to provide the second UAV position information, but by taking any point of the first UAV as the origin of the three-dimensional coordinate system, and determining the coordinate information of at least three coordinate points relative to the origin on the first space perception component set on the first UAV , when it is necessary to locate the position information and flight speed of the second UAV, directly obtain the flight speed of the second UAV authorized by the first UAV relative to the aircraft through the short-distance communication interface, and the second UAV The distance of each coordinate point determined by the distance from any point on the second space perception component on the aircraft, and then according to the coordinate information of each coordinate point and the distance from the second UAV to each coordinate point, the first UAV can be accurately positioned.
- the position information of the second UAV relative to the first UAV in the three-dimensional coordinate system solves the technical problem that the existing positioning is too dependent on the network and the base station, resulting in inaccurate or even impossible positioning in the state of no network and no base station.
- control method provided by this embodiment does not rely on the network or the base station in the process of determining the position information and flight speed of the second UAV relative to the aircraft, so there is no need to set up additional base stations or open the network. Therefore, the realization cost of the whole positioning scheme is greatly reduced, and it is more conducive to putting it into the market.
- FIG. 7 is a schematic structural diagram of the flight control device provided by the embodiment of the present application.
- the flight control device includes: a first determination module 701 , a second determination module 702 and a control module 703 .
- the first determination module 701 is configured to determine the position information and flight speed of the second UAV relative to the aircraft; the second determination module 702 is configured to, for each of the second UAVs, according to the corresponding The position information and the flight speed determine whether it will affect the flight of the aircraft; the control module 703 is configured to adjust the flight direction and /or flight speed; and/or, sending warning information to the second UAV that affects the aircraft, so that the second UAV adjusts the flight direction and/or flight speed according to the warning information.
- the first UAV is provided with a first space perception component
- the second UAV is provided with a second space perception component
- the first space perception component and the second The spatial awareness component is the same spatial awareness component.
- the first determination module 701 determines the position information and flight speed of the second drone relative to the own aircraft.
- At least three coordinate points are selected from the first space perception component, and coordinate information of each coordinate point relative to the origin is determined.
- position information of the second UAV relative to itself in the three-dimensional coordinate system is located.
- the first determining module 701 is further configured to perform the following operations during the process of determining the position information and flight speed of the second drone relative to the own drone.
- the second unmanned aerial vehicle that has obtained the authorized association with the second unmanned aerial vehicle, but not with the other second unmanned aerial vehicle that has obtained the authorized association with the aircraft obtains the relative description.
- the position information and flight speed of the second drone obtains the relative description.
- the position information of the second drone relative to the aircraft and the position information of the other second drones relative to the second drone determine the position information of the other second drone relative to the aircraft .
- the flight speed of the second UAV relative to the aircraft and the flight speed of the other second UAV relative to the second UAV determine the flight speed of the other second UAV relative to the aircraft .
- the second determination module 702 determines whether the flight of the drone will be affected according to the corresponding position information and the flight speed of each second drone, the details are as follows.
- the flight status of the second UAVs is determined according to the position information corresponding to at least two moments.
- the second determining module 702 judges whether the distance between the second drone and the own drone satisfies the safety distance corresponding to the flight speed, it is further configured to perform the following operations.
- the operation of judging whether the distance between the second UAV and the own aircraft satisfies the safety distance corresponding to the flight speed is performed.
- the second determining module determines whether the second drone is flying on the same flight path as the own drone.
- the moving distance and moving angle of the second UAV relative to the own UAV in the earth coordinate system are determined.
- the moving distance and the moving angle it is determined whether the second unmanned aerial vehicle is flying on the same flight path as the own aircraft.
- control module 703 adjusts the flight direction and/or flight speed of the own aircraft when the second determination module 702 determines that the flight of the own aircraft will be affected;
- the UAV sends warning information, so that the second UAV adjusts the flight direction and/or flight speed according to the warning information, specifically as follows.
- a warning message is sent to the second unmanned aerial vehicle that affects the aircraft, so that the second unmanned aerial vehicle adjusts its flight direction and/or flight speed according to the warning message.
- this embodiment is a device embodiment corresponding to the above obtained embodiment, and this embodiment can be implemented in cooperation with the above method embodiment.
- the relevant technical solution details mentioned in the foregoing method embodiments are still valid in this embodiment, and will not be repeated here in order to reduce repetition.
- the relevant technical solution details mentioned in this embodiment can also be applied to the above method embodiments.
- modules involved in this embodiment are logical modules.
- a logical unit can be a physical unit, or a part of a physical unit, or multiple physical units. Combination of units.
- units that are not closely related to solving the technical problem proposed in the present application are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.
- FIG. 8 is a schematic structural diagram of the drone provided by the embodiment of the present application.
- the drone provided in this embodiment includes: at least one processor 801 ; and a memory 802 communicatively connected to the at least one processor.
- the memory 802 stores instructions executable by at least one processor 801, and the instructions are executed by at least one processor 801, so that the at least one processor 801 can execute the flight control method described in the above method embodiments.
- the memory 802 and the processor 801 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 801 and various circuits of the memory 802 together.
- the bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein.
- the bus interface provides an interface between the bus and the transceivers.
- a transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing means for communicating with various other devices over a transmission medium.
- the data processed by the processor 801 is transmitted on the wireless medium through the antenna, and further, the antenna also receives the data and transmits the data to the processor 801 .
- the processor 801 is responsible for managing the bus and general processing, and may also provide various functions including timing, peripheral interface, voltage regulation, power management and other control functions. And the memory 802 may be used to store data used by the processor 801 when performing operations.
- the drone executing the flight control method and other unmanned drones around Spatial sensing components need to be installed in the machine, such as millimeter wave antennas, ultrasonic antennas, UWB antennas, etc., which are not listed here, and are not limited in this embodiment.
- the embodiment of the present application also relates to a computer-readable storage medium storing a computer program.
- the computer program is executed by the processor, the flight control method described in the above method embodiments is implemented.
- a storage medium includes several instructions to make a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
- the flight control method, device, unmanned aerial vehicle and storage medium proposed in this application are based on the principle of relative position and relative velocity.
- the position information and flight speed of the drone and then can accurately locate the precise position of the second drone relative to the first drone, so that the second drone can be determined according to the position information and flight speed of the second drone relative to the first drone.
- the second unmanned aerial vehicle When the second unmanned aerial vehicle will affect the flight of the first unmanned aerial vehicle, set the first unmanned aerial vehicle to adjust its own flight direction and/or flight speed, or notify the second unmanned aerial vehicle to adjust the flight direction and/or flight speed through the short-distance communication interface Or flight speed, so that without relying on the remote control terminal, you can send a message to the second drone at a specific location to achieve flight control and ensure that the first drone can fly to the destination safely.
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Abstract
一种飞行控制方法、装置、无人机及存储介质,该飞行控制方法应用于第一无人机,包括:确定第二无人机相对本机的位置信息和飞行速度;对于每一第二无人机,根据对应的位置信息和飞行速度,确定是否会影响本机的飞行;如果会影响,调整本机的飞行方向和/或飞行速度;和/或,向影响本机的第二无人机发送警示信息,以使第二无人机根据警示信息调整飞行方向和/或飞行速度。
Description
相关申请的交叉引用
本申请基于申请号为202110587633.7、申请日为2021年5月27日的中国专利申请提出,并要求该中国专利申请的优先权,该中国专利申请的全部内容在此引入本申请作为参考。
本申请实施例涉及无人机技术领域,特别涉及一种飞行控制方法、装置、无人机及存储介质。
随着无人机应用领域的日益扩展,使用无人机的场合也变得越来越多样化。现有方案中,无人机属于被遥控类设备,因此无人机的飞行需要由用户借助遥控终端(遥控器或遥控中心)进行控制,以保证无人机能够安全飞往目的地。
然而这种由用户借助遥控终端对无人机进行飞行控制的方案,通常是采用同一个遥控终端对某一区域的所有无人机进行统一的控制,如遥控设备想要控制无人机A附近的无人机B避让无人机A,是无法单独向无人机B发送控制指令,而是向当前区域内的所有无人机都发送避让无人机A的控制指令,即现有的飞行控制方案,仅能实现向某一区域发送消息,无法做到像特定位置发送消息。
此外,现有对无人机进行的飞行控制方案,需要用户参与,因此不仅存在人力成本问题,还存在由于用户处理不及时导致无人机发生碰撞的事故经常发生。
发明内容
本申请实施例的目的在于提供一种飞行控制方法、装置、无人机及存储介质。
本申请的实施例提供了一种飞行控制方法,应用于第一无人机,所述飞行控制方法包括:确定第二无人机相对本机的位置信息和飞行速度;对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行;如果会影响,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
本申请实施例还提供了一种飞行控制装置,包括:第一确定模块,被设置成确定第二无人机相对本机的位置信息和飞行速度;第二确定模块,被设置成对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行;控制模块,被设置成在所述第二确定模块确定会影响本机的飞行时,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
本申请实施例还提供了一种无人机,包括:与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处 理器执行,以使所述至少一个处理器能够执行如上所述的飞行控制方法。
本申请实施例还提供了一种计算机可读存储介质,存储有计算机程序。所述计算机程序被处理器执行时实现上述所述的飞行控制方法。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定。
图1是本申请实施例提供的飞行控制方法的流程示意图;
图2是图1所示的飞行控制方法中确定第二无人机相对本机的位置信息的示意图;
图3是本申请实施例提供的飞行控制方法的又一流程图;
图4是图3所示的飞行控制方法中基于空间感知组件确定第二无人机相对本机的位置信息的示意图;
图5是图3所示的飞行控制方法中确定第二无人机飞行状态的示意图;
图6是图3所示的飞行控制方法中基于传感器确定第二无人机相对本机的位置信息的示意图;
图7是本申请实施例提供的飞行控制装置的结构示意图;
图8是本申请实施例提供的无人机的结构示意图。
本申请实施例中术语“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
本申请实施例中术语“多个”是指两个或两个以上,其它量词与之类似。
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合附图对本申请的各实施例进行详细的阐述。然而,本领域的普通技术人员可以理解,在本申请各实施例中,为了使读者更好地理解本申请而提出了许多技术细节。但是,即使没有这些技术细节和基于以下各实施例的种种变化和修改,也可以实现本申请所要求保护的技术方案。以下各个实施例的划分是为了描述方便,不应对本申请的具体实现方式构成任何限定,各个实施例在不矛盾的前提下可以相互结合相互引用。
参见图1,图1是本申请实施例提供的飞行控制方法的流程图,在本实施例中,该方法主要应用于无人机。
为了便于说明,本实施例将需要确定其他无人机相对本机的位置信息和飞行速度的无人机称为第一无人机,将其他无人机称为第二无人机。
此外,应当理解的,在实际应用中,第一无人机也可以看作是第二无人机。
相应地,第二无人机,也可以看作是第一无人机。
比如,对于无人机A而言,如果想要确定无人机B相对其的位置信息和飞行速度,则无人机A为第一无人机,无人机B为第二无人机;反之,对于无人机B而言,如果想要确定无人机A相对其的位置信息和飞行速度,则无人机B为第一无人机,无人机A为第二无人机。
即,对于任一无人机自身而言,它是第一无人机,对于其他无人机而言,他是第二无人机。
为了更好的理解本实施例提供的飞行控制方法,以下结合图1进行具体说明。如图1所示,本实施例提供的飞行控制方法,包括以下步骤。
步骤101,确定第二无人机相对本机的位置信息和飞行速度。
具体的说,在本实施例中,第二无人机相对第一无人机的位置信息包括第二无人机在不同时刻距离第一无人机的实际距离差,以及在该时间内飞行的距离。
此外,需要说明的说,在本实施例中,第一无人机在确定第二无人机相对本机的位置信息和飞行速度时,是通过各种技术发射和接收电磁波,然后根据电磁波的传播强度、传播时间、传播速度等确定的。
在一个例子中,上述所说的确定第二无人机相对本机的位置信息和飞行速度的技术包括但不限于:全球定位***(Global Positioning System,GPS)、4G/5G等蜂窝网络、无线保真(WirelessFidelity,WiFi)等近距离通信技术。
为了便于说明,本实施例以WiFi这一近距离通信技术为了,结合图2对确定第二无人机相对本机的位置信息进行具体说明。
具体的,如图2所示,假设以无人机B为第一无人机,即作为原点,且其相对第二无人机,即图2中的无人机A为速度原点。
此时,假设无人机B的移动速度为0,则无人机A相对无人机B的飞行速度为v。如果在t1时刻,无人机B通过WiFi接收到的无人机A发送的近场通讯信号强度为R1,在t2时刻通过WiFi接收到的无人机A发送的近场通讯信号强度为R2,则信号强度差为ΔR。根据信号强度差与实际距离差关系式(ΔR·k=L,k为常数系数)便可以确定实际距离差L,即图2中的L2。根据时间差Δt和获取到的无人机A相对无人机B的飞行速度v,可以确定Δt时间内,无人机A飞行的距离,即图2中的L1。
步骤102,对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行。
仍以根据信号强度差的方式确定位置信息为例,在确定图2中的无人机A是否会影响无人机B的飞行时,先根据ΔR的强度判断无人机A与无人机B的相对位置是接近还是远离。
具体的,如果t1时刻无人机B接收到无人机A的近场通讯信号强度为R1大于t2时刻无人机B接收到无人机A的近场通讯信号强度为R2,则认为ΔR的强度增强,此时可以认为无人机A与无人机B的相对距离在接近;反正,则认为无人机A与无人机B的相对距离在远离。
当无人机A与无人机B的相对位置是接近时,说明无人机A(第二无人机)在朝向无人机B(第一无人机)飞行,此时需要进一步判断无人机A与无人机B之间的距离是否满足飞行速度对应的安全距离。
可理解的,由于不同的飞行速度,在进行紧急制动时,需要的安全距离会有差异,因此根据无人机B当前相对无人机A的飞行速度来确定二者之间的距离,即上述所说的L2是否满足飞速速度v对应的安全距离。
相应地,如果满足,则认为当前时刻无人机A不会影响无人机B的飞行,本次可以不控制无人机A和/或无人机B对各自的飞行方向和/或飞速速度进行调整,继续保持当前状态飞 行即可;如果不满足,则认为当前时刻无人机A会影响无人机B的飞行,即需要执行步骤103的操作。
此外,为了减少对无人机A和无人机B不必要的调整,尽可能保证上述判断结果的准确性,在无人机A在朝向无人机B飞行,判断二者之间的距离是否满足飞行速度对应的安全距离之前,可以进一步判断无人机B和无人机A是否在同一飞行路径上飞行,如果在,才执行判断二者之间的距离是否满足飞行速度对应的安全距离的步骤,否则认为无人机A不会影响无人机B的飞行。
为了便于理解,本实施例给出两种判断无人机B和无人机A是否在同一飞行路径的方式,具体如下。
方式1:
根据步骤101中确定的无人机A在时间差Δt内移动的距离L1、移动角度θ、通过信号强度差ΔR所计算出的距离L2和移动角度θ1,判断L1是否等于L,并且θ是否等于θ1,如果等于,则确定无人机A与无人机B在同一飞行路径上飞行;否则,确定无人机A与无人机B在不同飞行路径上飞行。
方式2:
如果无人机A(第二无人机)相对无人机B(第一无人机)的相对位置是通过GPS进行定位确定的,则在获取无人机A的GPS定位信息后可以根据位置信息中携带的在X轴和Y周的坐标信息,以及夹角,计算出无人机A的飞行路径对应的函数。同理,对于无人机B也基于GPS和上述方式计算出无人机B的飞行路径对应的函数。然后通对比两个无人机各自对应的飞行路径函数来确定二者的飞行路径是否相同。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
此外,应当理解的,在每一次确定第二无人机不会影响第一无人机飞行后,如果第一无人机还没有抵达目的地,则需要继续确定第二无人机相对第一无人机的位置信息和飞行速度,即重新进入步骤101。
步骤103,如果会影响,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
也就是说,在确定第一无人机和第二无人机相互之间存在影响时,进行的调整包括了以下三种。
(1)仅第一无人机进行调整,即仅调整本机的飞行方向和/或飞行速度。
(2)仅第二无人机进行调整,即仅通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
(3)第一无人机和第二无人机均进行调整。
此外,不论是对第一无人机的控制,还是第二无人机的控制,在一个例子中可以设置如下逻辑来控制无人机的飞行。
调整逻辑1:
如果会影响,首先调整本机的飞行方向和/或飞行速度;如果调整失败,比如第一无人机的紧急制动装置出现问题,无法调整,此时为了避免二者相撞,需要向影响本机的所述第二 无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度,进而保证第一无人机和第二无人机能够相互避让,保证安全飞行。
调整逻辑2:
如果会影响,先向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度;如果影响本机的所述第二无人机调整失败,再调整本机的飞行方向和/或飞行速度。
此外,可理解的,关于上述所说的调整本机的运动方向和/或运动速度,在实际应用中可以仅调整运动方向,比如控制第一无人机朝向远离靠近的第二无人机的方向,即向安全的方向改变;也可以仅调整运动速度,比如加速,或减速,或停止等,还可以是即调整运动方向,又调整运动速度。
同理,对于第二无人机,在接收到第一无人机发送的警示信息后进行的调整,与第一无人机机进行的调整方式类似,此处不再赘述。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
通过上述描述不难发现,本实施例提供的飞行控制方法,基于相对位置和相对速度的原理,第一无人机在飞行过程中,通过确定区域内第二无人机相对第一无人机的位置信息和飞行速度,进而可以精准的定位第二无人机相对第一无人机的精准位置,从而在根据第二无人机相对第一无人机的位置信息和飞行速度确定第二无人机会对第一无人机的飞行造成影响时,设置第一无人机调整自身的飞行方向和/或飞行速度,或者通过短距离通信接口通知第二无人机调整飞行方向和/或飞行速度,这样无需依赖遥控终端,便可以向特定位置的第二无人机发送消息,实现飞行控制,保证第一无人机能够安全飞往目的地。
此外,由于本实施例提供的飞行控制方法,不管是对第一无人机的飞行控制,还是对第二无人机的飞行空间,均无需用户参与,因此降低了人力成本,也避免了用户参与处理不及时导致无人机发生碰撞的事故发生。
参见图2,图2是本申请实施例提供的飞行控制方法的流程图,在本实施例中,该方法同样应用于上述所说的第一无人机。
此外,值得一提的是,由于现有的定位方式大多是基于全球导航卫星***(Global Navigation Satellite System,GNSS)、基站定位、无线通讯,如无线保真(WirelessFidelity,WiFi)、等技术。但是GNSS信号在室内高度衰减,导致定位的精度严重降低;基于基站定位方式,想要保证位置信息的准确性,就需要布设大量的基站,以覆盖各个区域和场景,这样无疑会增加实现成本;基于无线通讯的定位方式,对于无线网络的使用不仅会产生额外的费用,而且定位完全依赖无线网络侧的信息,因此无线网络一旦发生了故障,定位功能就会受到影响。因此,为了位置信息的获取受GNSS信号强度、网络和基站的影响,本实施例中涉及的无人机(第一无人机和第二无人机)设置了空间感知组件,从而通过空间感知组件来确定第二无人机相对第一无人机的位置信息和飞速速度,解决了现有定位对网络和基站依赖性太强,导致在无网络、无基站的状态下,定位不准确,甚至无法定位的技术问题。
为了便于说明的,本实施例将第一无人机设置的空间感知组件称为第一空间感知组件,将第二无人机设置的空间感知组件称为第二空间感知组件。
需要说明的,为了尽可能降低实现成本,本实施例中所说的空间感知组件,具体是采用价格低、普及度高的空间感知组件,比如毫米波测距组件、超声波测距组件、超带宽(Ultra Wide Band,UWB)测距组件等穿透力强、功耗低、干扰效果好、安全性高、空间容量大、能精确测距的测距组件。
此外,可理解的,在一个例子中,不论是设置在第一无人机,还是第二无人机上的空间感知组件均可以是天线或标贴的形式,如在第一无人机、第二无人机内部集成的时候设置毫米波天线、超声波天线、UWB天线作为空间感知组件。
此外,在一个例子中,为了使已经投入市场但不具备上述空间感知组件的无人机能够实现本实施例提供的控制方法,可以在此类无人机的外表面粘贴UWB标贴,从而使得此类无人机能够使用UWB标贴与其他设置有UWB标贴或UWB天线的无人机、设备进行信息交换。
此外,需要说明的是,为了保证第一无人机和第二无人机能够进行信息交互,或者在第一无人机上的第一空间感知组件和设置在第二无人机上的第二空间感知组件为相同的空间感知组件,即如果第一空间感知组件是毫米波天线,则第二空间感知组件也应当是毫米波天线。
为了更好的理解本实施例提供的飞行控制方法,以下结合图3进行具体说明。如图3所示,本实施例提供的飞行控制方法,包括以下步骤。
步骤301,选定本机任意一点作为所在三维坐标系的原点。
具体的说,在一个例子中,原点的确定可以考虑第一无人机的外形、使用场景等多种因素。
比如,对于形状较小,定位精确度要求相对较低的第一无人机,可以选定第一无人机上(包括内部)任意一点作为所在三维坐标系的原点。
还比如,对于体积较大,定位精确度要求高的使用场景的第一无人机,可以选定内部的中心点作为所在三维坐标系的原点。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
此外,需要说明的是,上述所说的三维坐标系,可以看作是一个标准三维坐标系,即对于该三维坐标系而言,第一无人机上每一个点的坐标都是固定不变的。
具体的,关于该标准三维坐标系的来源,可以是根据以选定的点为原点构建得到的,也可以先是根据第一无人机上任意三个点构建的相对第一无人机的一个初始三维坐标系,然后将该初始三维坐标系的原点与选定的点进行重合,进而得到的。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
步骤302,从所述第一空间感知组件上选取至少三个坐标点,并确定每一所述坐标点相对于所述原点的坐标信息。
可理解的,由于任何一个物体在三维空间中的位置,均是由X轴方向、Y轴方向和Z轴方向上的坐标确定的,因此在为了确定第二无人机在三维坐标系中的位置信息,至少需要确定三个坐标点的坐标信息和第二无人机上(包括内部)的第二空间感知组件某一点距离这三个坐标点的距离,才可以确定第二无人机上这一点的坐标信息,即确定第二无人机的位置信息。因此,需要从第一空间感知组件上选取至少三个坐标点,并确定每一坐标点相对于原点 (以下用O(0,0,0)表示)的坐标信息。
此外,需要说明的是,如果第一无人机中仅设置了一个第一空间感知组件,那么选取的至少三个坐标点为同一个空间感知组件上位于不同区域的坐标点;如果第一无人机中设置了多个第一空间感知组件,那么选取的至少三个坐标点可以是位于同一个第一空间感知组件上的,也可以是位于不同第一空间感知组件上的,本实施例对此不做限制。
此外,值得一提的是,关于第一空间感知组件在第一无人机中的具体设置位置,以及第二空间组件在第二无人机中的位置,本实施例对此不作限制。
步骤303,通过短距离通信接口获取取得授权关联的所述第二无人机相对本机的飞行速度,以及所述第二空间感知组件上任意一点距离每一所述坐标点的距离。
具体的说,本实施例中所说的短距离通信接口具体是指车用无线通信技术(vehicle to X,V2X)中涉及的PC5接口。
所谓PC5接口是指在3GPP Rel-12de设备到设备(Device to Device,D2D)项目中引入的终端到终端的直接通信接口。即,邻近的终端可以在近距离范围内通过直连链路进行数据传输,不需要通过中心节点(即基站)进行转发,也不需要通过传统的蜂窝链路进行两个物体之间的信息传输。
也就是说,基于PC5接口和设置的空间感知标贴,第一无人机和第二无人机便可以不依靠网络和基站实现信息交换。
基于此,取得授权的两个无人机,如第一无人机便可以通过持续向外发送带有能够标识自身身份的设备标识的V2X信号(以下称为第一V2X信号),同时接收第二无人机发送的带有能够标识自身身份的设备标识的V2X信号(以下称为第二V2X信息),以及第二无人机接收到第一无人机发送的第一V2X信号作出的反馈,并通过记录发送第一V2X信号记录的时间、接收针对第一V2X信号作出的反馈的时间,以及V2X信号和反馈的传输时间来确定空间感知组件上选定的每一坐标点到第二无人机之间的距离。
关于第二无人机的飞行速度,可以由第二无人机之间通过PC5接口发送给第一无人机,第二无人机根据本机当前的飞行速度和接收到的第二无人机的飞行速度,便可以确定第二无人机相对本机的飞速速度。
步骤304,根据每一所述坐标点的坐标信息和距离每一所述坐标点的距离,定位所述第二无人机在所述三维坐标系中相对本机的位置信息。
为了便于理解上述定位方法,以下结合图4进行具体说明。
假设第一无人机为图4中的A,与A取得授权的第二无人机为图4中的B。如果选定的位于第一空间感知组件的坐标点为A
1、A
2、A
3,这三个坐标点对应的坐标信息分别为A
1(X
1,Y
1,Z
1)、A
2(X
2,Y
2,Z
2)、A
3(X
3,Y
3,Z
3),在t1时刻,A通过PC5接口获取到的B上某一点距离A
1的距离为D
1,距离A
2的距离为D
2,距离A
3的距离为D3,基于如下距离公式便可以确定B上这一点的坐标信息,进而将其作为B的位置信息。
[(X
1-X
B)
2+(Y
1-Y
B)
2+(Z
1-Z
B)
2]
1/2=D
1
[(X
2-X
B)
2+(Y
2-Y
B)
2+(Z
2-Z
B)
2]
1/2=D
2
[(X
3-X
B)
2+(Y
3-Y
B)
2+(Z
3-Z
B)
2]
1/2=D
3
即,最终定位的B相对A的位置信息为(X
B,Y
B,Z
B)。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
此外,在一个例子中,为了使得定位出的位置信息能够更加贴合实际使用需求,在根据上述方式定位出第二无人机,如图4中的B相对第一无人机,如图4中的A的位置信息后,还可以根据上述确定的第一无人机的原点和第二无人机相对第一无人机的位置信息,确定第二无人机在地球坐标系相对第一无人机的位置信息。
此外,通过上述描述可知,第二无人机为了能够通过PC5接口与第一无人机进行信息交换,其内同样设置有空间感知组件,即第二空间感知组件,从而能够确定两者之间的距离。因此,对于任一第二无人机,本质上也是一个第一无人机。
基于此,对于任一第二无人机,比如C,在向与其建立授权的第一无人机,比如D发送距离时,还可以将按照上述定位方法定位的第二无人机E(图中未示出)的位置信息传输给D。
其中,E为与C取得授权的第二无人机,但未与D取得授权,即D无法直接与E进行交互,C传输给D的E的位置信息实质是E相对C的位置信息。
也就是说,D在通过PC5接口从授权的C获取距离D上第一空间感知组件上选取的至少三个坐标点的距离时,还可以从C获取与C取得授权关联的E相对C的位置信息,进而D可以根据C相对D的位置信息和E相对C的位置信息,定位出E相对D的位置信息,这样D在不与E进行信息交互的情况下,依旧可以准确定位E相对D的位置信息。
即,第一无人机通过所述短距离通信接口从取得授权关联的所述第二无人机获取与所述第二无人机取得授权关联,但未与本机取得授权关联的其他第二无人机相对所述第二无人机的位置信息和飞行速度;根据所述第二无人机相对本机的位置信息和所述其他第二无人机相对所述第二无人机的位置信息,确定所述其他第二无人机相对本机的位置信息;根据所述第二无人机相对本机的飞行速度和所述其他第二无人机相对所述第二无人机的飞行速度,确定所述其他第二无人机相对本机的飞行速度。
基于此,对于任一无人机在,只需与取得授权关联的无人机进行通信,借助取得授权关联的无人机便可以获取周围其他未取得授权关联的无人机的为位置信息和飞行速度。
此外,值得一提的是,关于上述所说的确定第二无人机相对本机的位置信息和飞行速度的实现,所有的运算信息是在运算芯片,如第一无人机中的处理器中完成的,获得的结果是存储在数据芯片。关于数据芯片,例如是第一无人机中的内存、存储器等,本实施例对此不做限制。
此外,在一个例子中,上述所说的运算芯片和数据芯片可以合二为一,即在实际应用中只要两种功能都具备即可。
此外,值得一提的是,对于第一无人机其周围可能存在多个与之取得授权关联的第二无人机,对于每一第二无人机周围又可能存在多个与第二无人机(此时第二无人机看作为第一 无人机)取得授权关联的第二无人机(以下称为第三无人机)。因此,为了能够准确的区分通过PC5接口获取的距离和第三无人机相对第二无人机的位置信息,在通过PC5接口从取得授权关联的任一第二无人机获取距离和第三无人机相对第二无人机的位置信息时,会通过PC5接口获取标识各无人机的设备标识,从而根据设备标识来区分不同无人机对应的距离、位置信息、飞行速度等信息。
此外,在一个例子中,为了便于后续对每一第二无人机是否影响本机飞行的判断分析,可以将每一第二无人机的设备标识、相对本机的位置信息和飞行速度进行存储。
具体的,首先建立所述设备标识、所述设备标识对应的所述位置信息、所述飞行速度和获取每一所述坐标点的距离的时刻之间的对应关系;然后,根据所述对应关系,将每一所述时刻对应的每一所述设备标识对应的所述位置信息和所述飞行速度存储到预先指定的存储区域。
步骤305,对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行。
在一个例子中,在判断每一第二无人机是否会影响本机的飞行时,具体是通过如下操作实现。
对于每一所述设备标识对应的所述第二无人机,从所述存储区域中选取满足预设条件的至少两个时刻对应的所述位置信息和所述飞行速度,根据至少两个时刻对应的所述位置信息,确定所述第二无人机的飞行状态。
可理解的,关于上述所说的预设条件,可以根据实际业务需求在设置。
比如,对于实时性、精确度要求高的业务需求,预设条件可以是规定选取相邻时刻的;反之,则可以是选择间隔一个时刻,或者多个时刻等,此处不再一一列举,本实施例对此也不做限制。
相应地,如果根据所述飞行状态确定所述第二无人机在朝向本机飞行,如第二无人机相对第一无人机距离越来越近,进一步判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离,如果不满足,则确定会影响本机的飞行;反正,则认为第二无人机不会影响本机的飞行。
此外,为了减少对第一无人机和第二无人机不必要的调整,尽可能保证上述判断结果的准确性,在第一无人机在朝向第二无人机飞行,判断二者之间的距离是否满足飞行速度对应的安全距离之前,可以进一步判断第一无人机和第二无人机是否在同一飞行路径上飞行,如果在,才执行判断二者之间的距离是否满足飞行速度对应的安全距离的步骤,否则认为第二无人机不会影响第一无人机的飞行。
为了便于理解所述确定第二无人机是否与本机在同一飞行路径上飞行的操作,以下结合图5进行说明。
如图5所示,以获取的是两个时刻对应的位置信息和飞行速度为例,结合图6可知,第二无人机C的飞行路径为沿着图5中连通t1时刻的C和t2时刻的C的箭头方向,按照获取到的C的飞行速度飞行。
关于确定上述飞行路径的方式,具体为根据第一无人机上选定的所述原点和上述获取的至少两个时刻对应的第二无人机相对第一无人机的所述位置信息,确定所述第二无人机在地球坐标系中相对本机的移动距离和移动角度;然后,根据所述移动距离和所述移动角度,确 定所第二无人机是否与本机在同一飞行路径上飞行。
此外,在一个例子中,如果第二无人机相对第一无人机的位置信息和飞行速度并非基于上述空间感知组件确定的,而是基于第二无人机上设置的各种传感器,如加速度传感和地磁传感器获取的第二无人机的加速度方向、加速度大小、飞行方向和飞行角度确定的。那么在确定第二无人机是否与本机在同一飞行路径上飞行时,需要先根据第二无人机的加速度方向、加速度大小、飞行方向和飞行角度确定第二无人机的飞行状态。
为了更好的理解,以下结合图6所示进行说明。
如图6所示,假设图6中的无人机A为第二无人机,无人机B和无人机C均为相对无人机A的第一无人机。
关于无人机A飞行状态的确定,具体如下。
具体的,在加速度为0、飞行角度为0时,可以判定无人机A静止;在加速度为0、飞行角度不为0时,可以判定无人机A为匀速运动;在加速度不为0、加速度方向与飞行方向一致,且飞行角度不变时则可以判定无人机A直线运动;在加速度不为0、加速度方向与飞行方向不一致,且飞行角度有变化时,则可以判定无人机A在做曲线运动(转弯时无人机A离心力会触发加速度传感器,且加速度方向与离心力方向相同)。
对于无人机B和无人机C,在确定无人机A是否其处于同一飞行路径,同样可以基于信号强度差和对应的公式,以及路径函数来确定无人机A与无人机B,无人机C的飞行路径是否相同。
应当理解的是,上述示例仅是为了更好的理解本实施例的技术方案而列举的示例,不作为对本实施例的唯一限制。
步骤306,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
不难发现,本实施例中的步骤306与图1所示的实施例中的步骤103大致相同,在此就不再赘述。
由此,本实施例提供的飞行控制方法,第一无人机在确定第二无人机相对本机的位置信息和飞行速度时,不依靠现有基站和无线网络来提供第二无人机的位置信息,而是通过将第一无人机的任意一点作为三维坐标系的原点,并确定设置在第一无人机上的第一空间感知组件上至少三个坐标点相对于原点的坐标信息,在需要定位第二无人机的位置信息和飞行速度时,直接通过短距离通信接口获取与第一无人机取得授权的第二无人机相对本机的飞行速度,以及第二无人机上的第二空间感知组件上任意一点距离确定的每一坐标点的距离,进而根据每一坐标点的坐标信息和第二无人机距离每一坐标点的距离,便可以精准的定位出第二无人机在三维坐标系中相对第一无人机的位置信息。通过这种方式,解决了现有定位对网络和基站依赖性太强,导致在无网络、无基站的状态下,定位不准确,甚至无法定位的技术问题。
此外,本实施例提供的控制方法,在确定第二无人机相对本机的位置信息和飞行速度的过程中既不依赖网络,又不依赖基站,因此无需额外架设基站,也无需开通网络,从而大大降低了整个定位方案的实现成本,更利于投入市场使用。
此外,应当理解的是,上面各种方法的步骤划分,只是为了描述清楚,实现时可以合并为一个步骤或者对某些步骤进行拆分,分解为多个步骤,只要包括相同的逻辑关系,都在本 专利的保护范围内;对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计,但不改变其算法和流程的核心设计都在该专利的保护范围内。
参见图7,图7是本申请实施例提供的飞行控制装置的结构示意图。
如图7所示,飞行控制装置包括:第一确定模块701、第二确定模块702和控制模块703。
其中,第一确定模块701,被设置成确定第二无人机相对本机的位置信息和飞行速度;第二确定模块702,被设置成对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行;控制模块703,被设置成在所述第二确定模块702确定会影响本机的飞行时,调整本机的飞行方向和/或飞行速度;和/或,向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
此外,在另一个例子中,所述第一无人机设有第一空间感知组件,所述第二无人机设有第二空间感知组件,所述第一空间感知组件和所述第二空间感知组件为相同的空间感知组件。
相应地,第一确定模块701在确定第二无人机相对本机的位置信息和飞行速度时,具体如下。
选定本机任意一点作为所在三维坐标系的原点。
从所述第一空间感知组件上选取至少三个坐标点,并确定每一所述坐标点相对于所述原点的坐标信息。
通过短距离通信接口获取取得授权关联的所述第二无人机相对本机的飞行速度,以及所述第二空间感知组件上任意一点距离每一所述坐标点的距离。
根据每一所述坐标点的坐标信息和距离每一所述坐标点的距离,定位所述第二无人机在所述三维坐标系中相对本机的位置信息。
此外,在一个例子中,第一确定模块701在确定第二无人机相对本机的位置信息和飞行速度的过程中,还被设置成执行以下操作。
通过所述短距离通信接口从取得授权关联的所述第二无人机获取与所述第二无人机取得授权关联,但未与本机取得授权关联的其他第二无人机相对所述第二无人机的位置信息和飞行速度。
根据所述第二无人机相对本机的位置信息和所述其他第二无人机相对所述第二无人机的位置信息,确定所述其他第二无人机相对本机的位置信息。
根据所述第二无人机相对本机的飞行速度和所述其他第二无人机相对所述第二无人机的飞行速度,确定所述其他第二无人机相对本机的飞行速度。
此外,在一个例子中,第二确定模块702在对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行时,具体如下。
对于每一所述第二无人机,根据至少两个时刻对应的所述位置信息,确定所述第二无人机的飞行状态。
如果根据所述飞行状态确定所述第二无人机在朝向本机飞行,判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离。
如果不满足,则确定会影响本机的飞行。
此外,在一个例子中,第二确定模块702在判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离之前,还被设置成执行以下操作。
确定所述第二无人机是否与本机在同一飞行路径上飞行。
如果在同一飞行路径上飞行,则执行所述判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离的操作。
此外,在一个例子中,第二确定模块在确定所第二无人机是否与本机在同一飞行路径上飞行时,具体如下。
根据所述原点和至少两个时刻对应的所述位置信息,确定所述第二无人机在地球坐标系中相对本机的移动距离和移动角度。
根据所述移动距离和所述移动角度,确定所第二无人机是否与本机在同一飞行路径上飞行。
此外,在一个例子中,控制模块703在第二确定模块702确定会影响本机的飞行时,调整本机的飞行方向和/或飞行速度;和/或,向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度的操作,具体如下。
如果会影响,调整本机的飞行方向和/或飞行速度。
如果调整失败,向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
和/或,
如果会影响,向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
如果影响本机的所述第二无人机调整失败,调整本机的飞行方向和/或飞行速度。
不难发现,本实施例为与上述得到实施例相对应的装置实施例,本实施例可与上述方法实施例互相配合实施。上述方法实施例中提到的相关的技术方案细节在本实施例中依然有效,为了减少重复,这里不再赘述。相应地,本实施例中提到的相关的技术方案细节也可应用在上述方法实施例中。
值得一提的是,本实施例中所涉及到的各模块均为逻辑模块,在实际应用中,一个逻辑单元可以是一个物理单元,也可以是一个物理单元的一部分,还可以以多个物理单元的组合实现。此外,为了突出本申请的创新部分,本实施例中并没有将与解决本申请所提出的技术问题关系不太密切的单元引入,但这并不表明本实施例中不存在其它的单元。
参见图8,图8是本申请实施例提供的无人机的结构示意图。
如图8所示,本实施例提供的无人机包括:包括至少一个处理器801;以及,与至少一个处理器通信连接的存储器802。
其中,存储器802存储有可被至少一个处理器801执行的指令,指令被至少一个处理器801执行,以使至少一个处理器801能够执行上述方法实施例所描述的飞行控制方法。
此外,在一个例子中,存储器802和处理器801采用总线方式连接,总线可以包括任意数量的互联的总线和桥,总线将一个或多个处理器801和存储器802的各种电路连接在一起。总线还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路连接在一起,这些都是本领域所公知的,因此,本文不再对其进行进一步描述。总线接口在总线和收发机之间提供接口。收发机可以是一个元件,也可以是多个元件,比如多个接收器和发送器,提供用于在传输介质上与各种其他装置通信的单元。经处理器801处理的数据通过天线在无线介质上进行传输,进一步,天线还接收数据并将数据传送给处理器801。
处理器801负责管理总线和通常的处理,还可以提供各种功能,包括定时,***接口, 电压调节、电源管理以及其他控制功能。而存储器802可以被用于存储处理器801在执行操作时所使用的数据。
此外,在一个例子中,为了使飞行控制方法中涉及的确定周围其他无人机的位置信息的过程能够不依赖GNSS、基站、网络等,执行飞行控制方法的无人机和周围的其他无人机中需要设置空间感知组件,如毫米波天线、超声波天线、UWB天线等,此处不再一一列举,本实施例对此也不做限制。
本申请实施例还涉及一种计算机可读存储介质,存储有计算机程序。计算机程序被处理器执行时实现上述方法实施例所描述的飞行控制方法。
即,本领域技术人员可以理解,实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序存储在一个存储介质中,包括若干指令用以使得一个设备(可以是单片机,芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请提出的飞行控制方法、装置、无人机及存储介质,基于相对位置和相对速度的原理,第一无人机在飞行过程中,通过确定区域内第二无人机相对第一无人机的位置信息和飞行速度,进而可以精准的定位第二无人机相对第一无人机的精准位置,从而在根据第二无人机相对第一无人机的位置信息和飞行速度确定第二无人机会对第一无人机的飞行造成影响时,设置第一无人机调整自身的飞行方向和/或飞行速度,或者通过短距离通信接口通知第二无人机调整飞行方向和/或飞行速度,这样无需依赖遥控终端,便可以向特定位置的第二无人机发送消息,实现飞行控制,保证第一无人机能够安全飞往目的地。
此外,由于本申请提出的飞行控制方法、装置、无人机及存储介质,不管是对第一无人机的飞行控制,还是对第二无人机的飞行空间,均无需用户参与,因此降低了人力成本,也避免了用户参与处理不及时导致无人机发生碰撞的事故发生。
本领域的普通技术人员可以理解,上述各实施例是实现本申请的具体实施例,而在实际应用中,可以在形式上和细节上对其作各种改变,而不偏离本申请的精神和范围。
Claims (10)
- 一种飞行控制方法,其特征在于,应用于第一无人机,所述飞行控制方法包括:确定第二无人机相对本机的位置信息和飞行速度;对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行;如果会影响,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
- 如权利要求1所述的飞行控制方法,其特征在于,所述第一无人机设有第一空间感知组件,所述第二无人机设有第二空间感知组件,所述第一空间感知组件和所述第二空间感知组件为相同的空间感知组件;所述确定第二无人机相对本机的位置信息和飞行速度,包括:选定本机任意一点作为所在三维坐标系的原点;从所述第一空间感知组件上选取至少三个坐标点,并确定每一所述坐标点相对于所述原点的坐标信息;通过所述短距离通信接口获取取得授权关联的所述第二无人机相对本机的飞行速度,以及所述第二空间感知组件上任意一点距离每一所述坐标点的距离;根据每一所述坐标点的坐标信息和距离每一所述坐标点的距离,定位所述第二无人机在所述三维坐标系中相对本机的位置信息。
- 如权利要求2所述的飞行控制方法,其特征在于,所述确定第二无人机相对本机的位置信息和飞行速度的过程中,所述方法还包括:通过所述短距离通信接口从取得授权关联的所述第二无人机获取与所述第二无人机取得授权关联,但未与本机取得授权关联的其他第二无人机相对所述第二无人机的位置信息和飞行速度;根据所述第二无人机相对本机的位置信息和所述其他第二无人机相对所述第二无人机的位置信息,确定所述其他第二无人机相对本机的位置信息;根据所述第二无人机相对本机的飞行速度和所述其他第二无人机相对所述第二无人机的飞行速度,确定所述其他第二无人机相对本机的飞行速度。
- 如权利要求1至3中任一项所述的飞行控制方法,其特征在于,所述对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行,包括:对于每一所述第二无人机,根据至少两个时刻对应的所述位置信息,确定所述第二无人机的飞行状态;如果根据所述飞行状态确定所述第二无人机在朝向本机飞行,判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离;如果不满足,则确定会影响本机的飞行。
- 如权利要求4所述的飞行控制方法,其特征在于,在所述判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离之前,所述方法还包括:确定所述第二无人机是否与本机在同一飞行路径上飞行;如果在同一飞行路径上飞行,则执行所述判断所述第二无人机与本机之间的距离是否满足所述飞行速度对应的安全距离的步骤。
- 如权利要求5所述的飞行控制方法,其特征在于,所述确定所第二无人机是否与本机在同一飞行路径上飞行,包括:根据所述原点和至少两个时刻对应的所述位置信息,确定所述第二无人机在地球坐标系中相对本机的移动距离和移动角度;根据所述移动距离和所述移动角度,确定所第二无人机是否与本机在同一飞行路径上飞行。
- 如权利要求1至4中任一项所述的飞行控制方法,其特征在于,所述如果会影响,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度,包括:如果会影响,调整本机的飞行方向和/或飞行速度;如果调整失败,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度;和/或,如果会影响,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度;如果影响本机的所述第二无人机调整失败,调整本机的飞行方向和/或飞行速度。
- 一种飞行控制装置,其特征在于,包括:第一确定模块,被设置成确定第二无人机相对本机的位置信息和飞行速度;第二确定模块,被设置成对于每一所述第二无人机,根据对应的所述位置信息和所述飞行速度,确定是否会影响本机的飞行;控制模块,被设置成在所述第二确定模块确定会影响本机的飞行时,调整本机的飞行方向和/或飞行速度;和/或,通过短距离通信接口向影响本机的所述第二无人机发送警示信息,以使所述第二无人机根据所述警示信息调整飞行方向和/或飞行速度。
- 一种无人机,其特征在于,包括:至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行如权利要求1至7任一所述的飞行控制方法。
- 一种计算机可读存储介质,存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现权利要求1至7中任一项所述的飞行控制方法。
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CN111028550A (zh) * | 2019-12-20 | 2020-04-17 | 成都纵横自动化技术股份有限公司 | 碰撞冲突检测方法及相关装置 |
CN112578817A (zh) * | 2021-02-26 | 2021-03-30 | 北京三快在线科技有限公司 | 无人机的控制方法、装置、存储介质和电子设备 |
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2021
- 2021-05-27 CN CN202110587633.7A patent/CN115407793A/zh active Pending
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2022
- 2022-04-06 WO PCT/CN2022/085390 patent/WO2022247475A1/zh unknown
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CN208110387U (zh) * | 2018-02-12 | 2018-11-16 | 深圳大学 | 一种室内视觉导航无人机集群飞行控制*** |
CN111028550A (zh) * | 2019-12-20 | 2020-04-17 | 成都纵横自动化技术股份有限公司 | 碰撞冲突检测方法及相关装置 |
CN112578817A (zh) * | 2021-02-26 | 2021-03-30 | 北京三快在线科技有限公司 | 无人机的控制方法、装置、存储介质和电子设备 |
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US20240025544A1 (en) * | 2022-07-20 | 2024-01-25 | Sony Group Corporation | Retransmission of signals using aerial vehicles |
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