WO2019000406A1 - Control method and apparatus for flight safety of unmanned aerial vehicle, and machine-readable storage medium - Google Patents

Abstract

Provided are a control method and apparatus for flight safety of an unmanned aerial vehicle, and a machine-readable storage medium. The method obtains two types of flight information via two sources, and comprises: acquiring first aircraft information from the surrounding environment of an unmanned aerial vehicle at a flying position detected by an ADS-B module installed at the unmanned aerial vehicle (101); externally acquiring second aircraft information from the surrounding environment of the unmanned aerial vehicle at the flying position (102); and determining failure of the ADS-B module according to the first aircraft information and the second aircraft information (103). Once failure of the ADS-B module is determined according to the first aircraft information and the second aircraft information, it means there exist safety risks associated with flight of the unmanned aerial vehicle, such that corresponding risk-prevention measures can be timely implemented to ensure flight safety of the unmanned aerial vehicle, thereby realizing safe flight of the unmanned aerial vehicle.

Description

Safety control method, device and machine readable storage medium for drone flight Technical field

The invention relates to the technical field of drones, in particular to a safety control method, device and machine readable storage medium for flight of a drone.

Background technique

The ADS-B (Automatic Dependent Surveillance-Broadcast) module can detect the surrounding aircraft in real time. When it detects that an aircraft is approaching the drone and there is a collision risk, it will crash. Risk warning or automatic risk avoidance.

However, in practical applications, the malicious user destroys the ADS-B module of the drone by cracking or interfering to disable the ADS-B module, which causes the ADS-B module carried by the drone to fail to detect the surrounding aircraft normally. As a result, the risk of collision cannot be detected correctly, which affects the safety of drone flight.

Summary of the invention

In view of this, the present invention discloses a safety control method, a device and a machine readable storage medium for flying a drone to protect the safety of the drone in time by automatically discovering the failure of the ADS-B module mounted on the drone.

In a first aspect of the present invention, a method for controlling a flight of a drone is provided, the method comprising:

Obtaining first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone;

Acquiring second aircraft information around the flight location from outside the drone;

Determining that the ADS-B module fails based on the first aircraft information and the second aircraft information.

A second aspect of the present invention provides a control device, including:

a processor, configured to acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone, and acquire a periphery of the flight location from outside the drone Second aircraft information;

And a controller, configured to determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.

According to a third aspect of the present invention, a machine readable storage medium is provided, on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:

Obtaining first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone;

Acquiring second aircraft information around the flight location from outside the drone;

Determining that the ADS-B module fails based on the first aircraft information and the second aircraft information.

Based on the foregoing technical solution, in the embodiment of the present invention, two kinds of aircraft information are obtained by two ways: acquiring the first aircraft surrounding the flight position of the drone detected by the ADS-B module carried by the drone Information, and acquiring second aircraft information around the flight location from outside the drone; then determining that the ADS-B module fails based on the first aircraft information and the second aircraft information, once according to the first The aircraft information and the second aircraft information determine that the failure of the ADS-B module means that the flight of the drone is at risk, and the corresponding measures are taken in time to prevent the risk and ensure the flight safety of the drone. Safe flight of the aircraft.

DRAWINGS

1 is a flow chart of a method provided by the present invention;

2 is a networking diagram of an application according to Embodiment 1 of the present invention;

3 is a flowchart of a method according to Embodiment 1 of the present invention;

4 is a first flowchart of determining an ADS-B module failure according to the present invention;

FIG. 5 is a second flowchart of determining an ADS-B module failure according to the present invention; FIG.

6 is a third flowchart of determining an ADS-B module failure according to the present invention;

FIG. 7 is a fourth flowchart of determining an ADS-B module failure according to the present invention; FIG.

8 is a networking diagram of an application according to Embodiment 2 of the present invention;

9 is a flowchart of a method according to Embodiment 2 of the present invention;

10 is a flowchart of a method according to Embodiment 3 of the present invention;

Figure 11 is a structural diagram of a control device provided by the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present disclosure.

In order to ensure the safety of the drone flight, the embodiment of the invention provides a safety control method for the flight of the drone, by checking whether the automatic Dependent Surveillance-Broadcast module (ADS-B) is installed on the drone Invalidation, so that the ADS-B module is interfered or cracked by any means. As long as the ADS-B module fails, the UAV flight safety control is performed in time to prevent the collision risk.

The method provided by the embodiment of the present invention is described below with reference to FIG. 1 :

Referring to FIG. 1, FIG. 1 is a flowchart of a method according to an embodiment of the present invention. As shown in Figure 1, the process can include the following steps:

Step 101: Acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone.

In the application, the ADS-B module carried by the drone can detect the surrounding aircraft in the flight position of the drone. In one embodiment, the peripheral aircraft at the flight location of the drone is specifically: an aircraft within a circular area centered at the flight position and having a radius of detection of the ADS-B module. In a specific application, there are a large number of peripheral aircraft in the flight position of the drone, and the aircraft information of each aircraft surrounding the flight position of the drone includes at least one of the following: an aircraft identification (such as a number), a flight position of the aircraft, and an aircraft. The height of the flight, the speed, and the heading of the aircraft are not specifically limited in the present invention. For convenience of description, in this step 101, the aircraft information of each aircraft around the flight position of the drone detected by the ADS-B module mounted on the drone is uniformly recorded as the first aircraft information.

Step 102: Acquire second aircraft information around the flight location from outside the drone.

The outside of the drone in step 102 refers to a medium other than the drone, and the medium is not limited to a website, a device other than the drone, or the like. In the application, the number of aircraft around the flight position of the drone is large, and the aircraft information of each aircraft around the flight position of the drone includes at least one of the following: the aircraft identification (such as the number), the flight position of the aircraft, the altitude of the aircraft flight. The speed, the heading of the aircraft, and the route planning of the aircraft are not specifically limited in the present invention. In order to facilitate the division of the aircraft information of a large number of aircraft around the flight position of the unmanned aircraft detected by the ADS-B module carried in the above-mentioned step 101, in this step 102, the periphery of the flight position of the drone will be acquired from the outside of the drone. The aircraft information of each aircraft is uniformly recorded as the second aircraft information.

Step 103: Determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.

In the present invention, the operation of the ADS-B module mounted on the drone can be determined based on the first aircraft information and the second aircraft information described above. The working condition of the ADS-B module mounted on the drone can be determined according to the first aircraft information and the second aircraft information mentioned above, because the first aircraft information described above is the ADS-equipped by the drone. The peripheral position of the drone detected by the B module Aircraft information, and the second aircraft information is aircraft information around the flight position of the drone obtained from the outside of the drone. When the ADS-B module mounted on the drone is working normally, the first aircraft information and the second aircraft information principle The same is true, or even if it is not the same, the error will be less than the set threshold; if the error of the first aircraft information and the second aircraft information is greater than the set threshold, it means that the ADS-B module is mounted on the drone. The performance is not good and may fail. According to the first aircraft information and the second aircraft information described above, it is possible to determine the operation of the ADS-B module mounted on the drone. The following section will focus on how to determine the failure of the ADS-B module mounted on the drone based on the first aircraft information and the second aircraft information, which will not be described here.

Once the ADS-B module is determined to be invalid according to the first aircraft information and the second aircraft information, it means that the flight of the drone is at risk, and corresponding measures are taken in time to prevent the risk and ensure the safety of the drone. This ultimately achieved a safe flight of the drone.

The following describes the embodiment of the process shown in FIG. 1 through several specific embodiments:

Example 1:

Referring to FIG. 2, FIG. 2 is a networking diagram of an application according to Embodiment 1 of the present invention. The application networking shown in FIG. 2 includes a terminal, a drone, and an outside of the drone. In one embodiment, the exterior of the drone may be a designated device external to the designated website and/or drone. Among them, the designated website can be some websites that provide information on the flight distribution of the aircraft, such as FlightRadar: www.flightradar24.com, FlightAware: zh.flightaware.com and other websites. In one embodiment, the designated device may be some device that provides aircraft flight distribution information, such as a device in a radar station, a device in an airport, or other device for providing aircraft information, etc., which is not specifically limited by the present invention.

Based on the application networking shown in FIG. 2, the first embodiment provides a method for the drone flight safety control applied to the networking shown in FIG. 2. Referring to FIG. 3, FIG. 3 is a flowchart of a method according to Embodiment 1 of the present invention. This process is applied to the above terminal. Among them, the client is set in the terminal. In one example, the client can be implemented by means of an APP (application), or by an SDK (Software Development Kit), or by means of a parameter (such as a drone software). Implementation, there is no limit to this implementation.

In the first embodiment, the client set in the terminal accesses the network when the drone is in flight. Here, the network can be accessed by wired or wireless, and the access mode is not limited. The client can communicate with the outside of the drone through the connected network. Figure 2 shows an example of accessing the network in a wireless manner.

In addition, the client set in the terminal can control the drone, and the connection mode of the two can be wired connection or wireless connection. The connection mode is not limited, and the wireless connection is shown in FIG. 2 (such as WiFi, OcuSync, Lightbridge). , Auxiliary, etc.) as an example.

As shown in FIG. 3, the process may include the following steps:

Step 301: The terminal acquires, by using a client for controlling the drone, the first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.

In one example, the first aircraft information around the flight position of the drone is specifically: aircraft information of each aircraft in a circular area with the flight position of the unmanned aircraft as the center and the detection range of the ADS-B module as a radius. . In one example, aircraft information for each aircraft includes: aircraft identification, aircraft altitude, aircraft flight speed, direction of aircraft flight, and the like.

As an embodiment, the flight position of the UAV may be a flight position of the UAV that is transmitted in real time by the positioning module mounted on the UAV. The flight position is the current position of the drone and is dynamically changing, which means that the center of the circular area is constantly changing dynamically. In one example, each time the terminal receives the flight position of the drone sent by the positioning module carried by the drone, the flow shown in FIG. 3 is executed. As described above, the above flight position is the current state of the drone. The position shown in FIG. 3 performs the drone flight safety control based on the current position of the drone, which can greatly improve the accuracy of the drone flight safety control provided by the embodiment of the present invention.

As another embodiment, the flying position of the drone may be a designated position in the flight path of the drone. This means that the center of the circular area is fixed, but because the aircraft in the circular area are uncontrollable, the first aircraft information around the flight position of the UAV detected by the above ADS-B module may be Dynamically changing. In one example, the designated location described above may be the takeoff point of the drone. In a specific implementation, although the flight position of the drone changes dynamically, the distance caused by the change is compared. The detection range of the ADS-B module (generally several hundred kilometers) is small, so even if the flight position of the drone is specified, the first aircraft information acquired by the terminal will not be affected. In one example, the terminal can perform the process shown in FIG. 3 once in a set period.

Step 302: The terminal acquires second aircraft information around the flight location of the drone from the outside of the drone through the set client for controlling the drone.

For example, in the exterior of the drone as described above, taking the outside of the drone as the designated website, in step 302, the terminal obtains the client from the designated website through the wireless connection or the wired connection through the set client for controlling the drone. The man-machine flight position is a center, information of each aircraft in a circular area having a radius of the detection range of the ADS-B module (denoted as second aircraft information). The flying position of the UAV here may be the flight position of the UAV in real time sent by the positioning module carried by the UAV as described above, or may be the designated position as described above, which is not specifically limited in the embodiment of the present invention.

Step 303: The terminal determines, according to the first aircraft information and the second aircraft information, that the ADS-B module is invalid.

As an embodiment, in step 303, determining that the ADS-B module fails according to the first aircraft information and the second aircraft information may be implemented in the following four manners:

Method 1:

In the first mode, the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information is as shown in FIG. 4, and may include:

Step 401, determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information.

Step 402: Calculate a ratio of the number of aircrafts L in the intersection to the number of aircrafts M in the aircraft set B. When the ratio is less than the first preset threshold, determine that the ADS-B module is invalid.

As an embodiment, the first preset threshold may be set according to actual conditions. For example, if the requirement for the failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger. Still.

At this point, the failure of the ADS-B module can be determined by mode 1.

Method 2:

This mode 2 is similar to mode 1, except that before the mode 1 determines that the ADS-B module fails, it is necessary to further include: determining that the aircraft in the aircraft set B having greater than or equal to the set ratio is included in the aircraft set A. When it is determined that an aircraft greater than or equal to the set ratio in the aircraft set B is included in the aircraft set A, it is determined that the ADS-B module fails, and otherwise, the ADS-B module is not invalid. FIG. 5 specifically illustrates the steps of determining the failure of the ADS-B module in Mode 2.

Method 3:

In the third mode, the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information, as shown in FIG. 6, may include:

Step 601, determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information.

Step 602: Calculate a ratio of the number of aircrafts L in the intersection to the number N of aircrafts in the aircraft set A. When the ratio is greater than the second preset threshold, determine that the ADS-B module is invalid.

As an embodiment, the foregoing second preset threshold may be set according to actual conditions. For example, if the requirement for failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger, and vice versa.

At this point, the failure of the ADS-B module can be determined by mode 3.

Method 4:

In the fourth mode, the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information is as shown in FIG. 7, and may include:

Step 701: When the number of aircrafts of the aircraft set A in the first aircraft information is empty or less than a set threshold, and the number of aircrafts M in the aircraft set B in the second aircraft information is greater than a third preset threshold, Go to step 702.

As an embodiment, the foregoing third preset threshold may be set according to actual conditions. For example, if the requirement for the failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger, and vice versa.

Step 702, determining that the ADS-B module is invalid.

At this point, the failure of the ADS-B module can be determined by way 4.

It should be noted that the above four methods for determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information are only examples for making the invention clearer, and are not intended to limit the present invention. Other ways of determining the failure of the ADS-B module should also be included in the present invention.

Once the terminal determines that the ADS-B module mounted on the UAV fails by any of the above four methods, the UAV is subjected to safe flight control or a risk warning is issued to the user to control the UAV to avoid the risk. Finally, the purpose of safe flight control is achieved.

In one embodiment, there are many types of safe flight control for the drone, such as if the drone is currently flying, then a flight limit is issued to the drone to prevent flight risk.

In the specific implementation, the flight restriction to the drone includes many restrictions, such as forcing the drone to return to the air; and/or reducing the flying height of the drone, etc., which is not specifically limited.

So far, the description of Embodiment 1 is completed.

Example 2:

Referring to FIG. 8, FIG. 8 is a networking diagram of an application according to Embodiment 2 of the present invention. The application networking shown in FIG. 8 includes a terminal, a server, a drone, and an outside of the drone. As described above, the exterior of the drone may be a designated device external to the designated website and/or drone. Among them, the designated website can be some websites that provide information on the flight distribution of the aircraft, such as FlightRadar: www.flightradar24.com, FlightAware: zh.flightaware.com and other websites. In one embodiment, the designated device may be some device that provides aircraft flight distribution information, such as equipment in a radar station, equipment in an airport, or other for providing The apparatus and the like of the aircraft information are not specifically limited in the present invention.

In the second embodiment, the terminal is provided with a client capable of communicating with the outside of the drone, the server, and capable of controlling the drone. As described above, the client example can be implemented by an APP (application) method, or by an SDK (Software Development Kit), and can also be implemented by adjusting parameters (such as a drone software). There is no limit to this implementation.

The client does not access the network when the drone is flying, and cannot communicate with the server. When the client finishes flying in the drone, the client can communicate with the server to complete the next flight of the drone. safely control.

Based on the application networking shown in FIG. 8, the second embodiment provides a method for the drone flight safety control applied to the networking shown in FIG. Referring to FIG. 9, FIG. 9 is a flowchart of a method according to Embodiment 2 of the present invention. The process is applied to the server described above, which in one example is a server of a drone service provider. As shown in FIG. 9, the process may include the following steps:

In step 901, the server receives a flight log of the drone sent from the terminal.

In the second embodiment, when the drone is flying, the client set by the terminal is not connected to the network, and the terminal cannot communicate with the drone, nor can the flight log of the drone be acquired; and when the drone is completed When the terminal accesses the network through the set client, the terminal can communicate with the drone through the network accessed by the set client to obtain the flight log of the drone, and the network accessed by the set client. Communicate with the server to send the acquired flight log of the drone to the server.

As an embodiment, the flight log herein may include: a flight path of the drone, a list of aircraft information, and the like. The aircraft information list here contains the aircraft information of the surrounding aircraft detected by the ADS-B module carried by the drone in each flight position of the UAV flight path.

Step 902: The server acquires, from the received flight log, first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.

As an embodiment, the flight position of the UAV in this step 902 is the absence of the flight date record. A specified position in the flight path of the man-machine, such as the take-off position of the drone, or a certain position during the flight of the drone.

When the flight position of the drone is determined, the first aircraft information in step 902 is: the aircraft information around the flight position of the drone detected by the ADS-B module of the drone recorded in the aircraft information list. In one example, the aircraft information around the flying position of the UAV here is specifically the aircraft information of each aircraft in a circular area centered on the flying position of the UAV and having the radius of the detection range of the ADS-B module.

Step 903: The server acquires second aircraft information around the flight location of the drone from outside the drone.

For example, in the exterior of the drone as described above, taking the outside of the drone as a designated website, in step 903, the server obtains from the designated website through the wireless connection or the wired connection, which is centered on the flying position of the drone, and the ADS- The detection range of the B module is the information of each aircraft in the circular area of the radius (recorded as the second aircraft information).

Step 904: The server determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.

For the manner of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information, refer to the four modes in the foregoing Embodiment 1, and details are not described herein again.

Once the server determines that the ADS-B module carried by the drone is invalid, the UAV is subjected to safe flight control, or a risk warning is issued to the user, so that the user controls the drone to avoid the risk and finally achieves the purpose of safe flight control.

It should be noted that, since the drone has completed the flight at this time, the server will issue a risk warning to the user whether it is a safe flight control of the drone or not, and the purpose is to determine the ADS-equipped by the drone. Based on the failure of the B module, flight restrictions are imposed on the next flight of the drone to prevent flight risks.

As an embodiment, the flight restrictions for the next flight of the drone include: The flying height of the human machine, or the flying speed of the drone is limited, and the present invention is not specifically limited.

So far, the description of Embodiment 2 is completed.

Example 3:

Referring to FIG. 10, FIG. 10 is a flowchart of a method according to Embodiment 3 of the present invention. The networking of the application is similar to the application networking of Embodiment 1 shown in FIG. 2. However, compared to the method flow provided in Embodiment 1, in the third embodiment, the client set by the terminal does not access the network when the drone is flying.

In this way, when the terminal accesses the network when the drone completes the flight, the terminal can access the network by wire or wireless, and the access mode is not limited. Then, as shown in FIG. 10, the process may include the following steps:

In step 1001, the terminal acquires a flight log of the drone through a client configured to control the drone.

As an embodiment, the flight log herein may include: a flight path of the drone, a list of aircraft information, and the like. The aircraft information list here contains the aircraft information of the surrounding aircraft detected by the ADS-B module carried by the drone in each flight position of the UAV flight path.

Step 1002: The terminal acquires, from the received flight log, first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.

As an embodiment, in this step 1002, the UAV flight position is a specified position in the flight path of the UAV recorded on the flight day, such as a takeoff position of the drone, or one of the UAV flight processes. Location and so on.

When the flight position of the drone is determined, the first aircraft information in step 1002 is: the aircraft information around the flight position of the drone detected by the ADS-B module of the drone recorded in the aircraft information list. In one example, the aircraft information around the flying position of the UAV here is specifically the aircraft information of each aircraft in a circular area centered on the flying position of the UAV and having the radius of the detection range of the ADS-B module.

In step 1003, the terminal acquires second aircraft information around the flight location of the drone from outside the drone.

For example, in the exterior of the drone as described above, taking the outside of the drone as the designated website, in step 1003, the terminal obtains from the designated website through the wireless connection or the wired connection, which is centered on the flying position of the drone, and the ADS- The detection range of the B module is the information of each aircraft in the circular area of the radius (recorded as the second aircraft information).

Step 1004: The terminal determines, according to the first aircraft information and the second aircraft information, that the ADS-B module is invalid.

For the manner of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information, refer to the four modes in the foregoing Embodiment 1, and details are not described herein again.

Once the terminal determines that the ADS-B module carried by the drone is invalid, the UAV is subjected to safe flight control or a risk warning is issued to the user, so that the user controls the drone to avoid the risk and finally achieves the purpose of safe flight control. In the third embodiment, after the terminal determines that the ADS-B module mounted on the UAV is disabled, the processing manner of the ADS-B module in the second embodiment is similar to that in the case where the server determines that the ADS-B module is not in use.

So far, the description of Embodiment 3 is completed.

It should be noted that the method for flying safety control of the drone provided by the present invention can also be performed by the drone. Compared with the above three embodiments, when the UAV performs flight safety control, it needs to detect the first aircraft information around the flight position of the drone detected from the ADS-B module carried by the drone, and specify from the outside of the drone. The website or the designated device acquires the second aircraft information around the flight location of the drone, and then actively determines the use of the first aircraft information and the second aircraft information according to any one of the four manners in Embodiment 1. The ADS-B module is invalid. Compared with the above three embodiments, the manner in which the drone performs flight safety control is relatively simple.

It should be noted that the above-described embodiments are merely examples for facilitating the present invention and are not intended to limit the present invention.

The method provided by the present invention has been described above, and the control device provided by the present invention is Line description:

Referring to FIG. 11, FIG. 11 is a structural diagram of a control device provided by the present invention. As shown in FIG. 11, the control device includes:

a processor, configured to acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone, and acquire a periphery of the flight location from outside the drone Second aircraft information;

And a controller, configured to determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.

In one embodiment, the processor and controller are communicable via a system bus.

In one embodiment, the acquiring, by the processor from the exterior of the drone, the second aircraft information around the flight location comprises: acquiring from the exterior of the drone at a center of the flight position, with the ADS- The detection range of the B module is the information of the aircraft in the circular area of the radius.

In one embodiment, the flight position is a position when the drone is sent by the positioning module carried by the drone; or

The flight position is a designated position in a flight path of the drone.

In one embodiment, the control device is a terminal corresponding to the drone, and the terminal accesses a network when the drone is flying, and the terminal accesses the drone through an accessed network. External to obtain second aircraft information around the flight location.

In one embodiment, the acquiring, by the processor from the outside of the drone, the second aircraft information around the flight location comprises:

Obtaining a flight position of the drone from a flight log of the drone;

Information of the aircraft in a circular area centered on the flight position and having a radius of the detection range of the ADS-B module is acquired from the outside of the drone.

In one embodiment, the control device is a terminal corresponding to the drone, and the terminal does not access the network when the drone is flying;

The flight log is obtained from the drone after detecting that the terminal accesses the network.

In one embodiment, the control device is a server; the flight log is obtained by the terminal corresponding to the drone from the drone and sent to the server.

In one embodiment, the processor acquiring, from the ADS-B module carried by the drone, the first aircraft information around the flight location of the drone detected by the ADS-B module includes:

Acquiring first aircraft information around the flight position detected by the ADS-B module carried by the drone from the flight log.

In one embodiment, the flight location is one of flight trajectories of the drone recorded on the flight day.

In one embodiment, the exterior of the drone includes: a designated website and/or a designated device external to the drone;

The designated device includes: a device in a radar station, a device in an airport, or other device for providing aircraft information.

In one embodiment, the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:

Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information;

Calculating a ratio of the number L of aircraft in the intersection to the number M of aircraft in the aircraft set B. When the ratio is less than the first preset threshold, determining that the ADS-B module is invalid.

In an embodiment, before the controller determines that the ADS-B module fails, the controller further includes:

It is determined that the aircraft in the aircraft set B having greater than or equal to the set ratio is included in the aircraft set A.

In one embodiment, the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:

Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information;

Calculating a ratio of the number L of aircrafts in the intersection to the number N of aircrafts in the aircraft set A. When the ratio is greater than a second preset threshold, determining that the ADS-B module is invalid.

In one embodiment, the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:

Determining when the number of aircrafts of the aircraft set A in the first aircraft information is empty or less than a set threshold, and the number of aircrafts M in the aircraft set B in the second aircraft information is greater than a third preset threshold The ADS-B module is invalid.

In an embodiment, when the controller detects that the ADS-B module fails, the controller further includes:

Perform safe flight control on the drone or issue a risk warning to the user.

In one embodiment, the safe flight control of the drone includes:

If the drone is currently flying, a flight limit is issued to the drone to prevent flight risk.

In one embodiment, the issuing flight restrictions to the drone includes:

Forced return; and / or,

Reduce the flying height of the drone.

In one embodiment, the safe flight control of the drone includes:

If the drone is not currently flying, flight restrictions are imposed on the next flight of the drone to prevent flight risks.

In one embodiment, the flight restrictions for the next flight of the drone include:

Limit the flying height of the drone.

So far, the structural description of the control device shown in FIG. 11 is completed.

The present invention also provides a machine readable storage medium that can be applied to a drone, a terminal, a server. A number of computer instructions are stored on a machine readable storage medium. When the computer instruction is executed, the following processing is performed:

Acquiring the flight position of the drone detected by the ADS-B module carried by the drone First aircraft information around;

Acquiring second aircraft information around the flight location from outside the drone;

Determining that the ADS-B module fails based on the first aircraft information and the second aircraft information.

In one embodiment, the machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and so forth. For example, the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as a hard disk drive), solid state drive, any type of storage disk. (such as a disc, dvd, etc.), or a similar storage medium, or a combination thereof.

So far, a description of the machine readable storage medium is completed.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or order between them. The terms "comprising," "comprising," or "include" or "include" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that includes a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and device provided by the embodiments of the present invention are described in detail above. The principles and embodiments of the present invention have been described in terms of specific examples. The description of the above embodiments is only for facilitating understanding of the method and the core idea of the present invention. Meanwhile, for those skilled in the art, according to the idea of the present invention, There is a change in the scope of the present invention and the scope of the application, and the contents of the present specification should not be construed as limiting the invention.

Claims (39)

A safety control method for UAV flight, characterized in that the method comprises: Obtaining first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone; Acquiring second aircraft information around the flight location from outside the drone; Determining that the ADS-B module fails based on the first aircraft information and the second aircraft information. The method according to claim 1, wherein the obtaining the second aircraft information around the flight location from outside the drone comprises: Information of the aircraft in a circular area centered on the flight position and having a radius of the detection range of the ADS-B module is acquired from the outside of the drone. The method according to claim 2, wherein the flight position is a position when the drone is transmitted by the positioning module carried by the drone; or The flight position is a designated position in a flight path of the drone. The method according to claim 3, wherein the method is applied to a terminal corresponding to the drone, and the terminal accesses a network when the drone is flying, and the terminal accesses the network through the access Accessing the exterior of the drone to obtain second aircraft information around the flight location. The method according to claim 1, wherein the obtaining the second aircraft information around the flight location from outside the drone comprises: Obtaining a flight position of the drone from a flight log of the drone; Information of the aircraft in a circular area centered on the flight position and having a radius of the detection range of the ADS-B module is acquired from the outside of the drone. The method according to claim 5, wherein the method is applied to a terminal corresponding to the drone, and the terminal does not access the network when the drone is flying; The flight log is obtained from the drone after detecting that the terminal accesses the network. The method of claim 5 wherein said method is applied to a server; The flight log is obtained from the drone after the terminal corresponding to the drone accesses the network Sent to the server. The method according to claim 5, wherein the obtaining, by the ADS-B module carried by the drone, the first aircraft information around the flight position of the drone detected by the ADS-B module comprises: Acquiring first aircraft information around the flight position detected by the ADS-B module carried by the drone from the flight log. The method of claim 5 wherein said flight position is one of a flight path of said drone recorded on said flight day. The method according to claim 1, wherein the exterior of the drone comprises: a designated website and/or a designated device external to the drone; The designated device includes: a device in a radar station, a device in an airport, or other device for providing aircraft information. The method according to claim 1, wherein said determining said ADS-B module failure based on said first aircraft information and said second aircraft information comprises: Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information; Calculating a ratio of the number L of aircraft in the intersection to the number M of aircraft in the aircraft set B. When the ratio is less than the first preset threshold, determining that the ADS-B module is invalid. The method according to claim 11, wherein before the determining that the ADS-B module fails, the method further comprises: It is determined that the aircraft in the aircraft set B having greater than or equal to the set ratio is included in the aircraft set A. The method according to claim 1, wherein said determining said ADS-B module failure based on said first aircraft information and said second aircraft information comprises: Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information; Calculating a ratio of the number L of aircrafts in the intersection to the number N of aircrafts in the aircraft set A. When the ratio is greater than a second preset threshold, determining that the ADS-B module is invalid. The method according to claim 1, wherein said determining said ADS-B module failure based on said first aircraft information and said second aircraft information comprises: Determining when the number of aircrafts of the aircraft set A in the first aircraft information is empty or less than a set threshold, and the number of aircrafts M in the aircraft set B in the second aircraft information is greater than a third preset threshold The ADS-B module is invalid. The method according to claim 1, wherein when it is checked that the ADS-B module fails, the method further comprises: Perform safe flight control on the drone or issue a risk warning to the user. The method of claim 15 wherein said performing safe flight control of the drone comprises: If the drone is currently flying, a flight limit is issued to the drone to prevent flight risk. The method of claim 16 wherein said issuing a flight restriction to the drone comprises: Forced return; and / or, Reduce the flying height of the drone. The method of claim 15 wherein said performing safe flight control of the drone comprises: If the drone is not currently flying, flight restrictions are imposed on the next flight of the drone to prevent flight risks. The method of claim 18 wherein said restricting flight to the next flight of the drone comprises: Limit the flying height of the drone. A control device, characterized in that the control device comprises: a processor, configured to acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone, and acquire a periphery of the flight location from outside the drone Second aircraft information; And a controller, configured to determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information. The control device according to claim 20, wherein the acquiring, by the processor from the outside of the drone, the second aircraft information around the flight location comprises: Information of the aircraft in a circular area centered on the flight position and having a radius of the detection range of the ADS-B module is acquired from the outside of the drone. The control device according to claim 21, wherein the flight position is a position when the drone is transmitted by the positioning module mounted on the drone; or The flight position is a designated position in a flight path of the drone. The control device according to claim 22, wherein the control device is a terminal corresponding to the drone, and the terminal accesses a network when the drone is flying, and the terminal accesses The network accesses the exterior of the drone to obtain second aircraft information around the flight location. The control device according to claim 20, wherein the acquiring, by the processor from the outside of the drone, the second aircraft information around the flight location comprises: Obtaining a flight position of the drone from a flight log of the drone; Information of the aircraft in a circular area centered on the flight position and having a radius of the detection range of the ADS-B module is acquired from the outside of the drone. The control device according to claim 24, wherein the control device is a terminal corresponding to the drone, and the terminal does not access the network when the drone is flying; The flight log is obtained from the drone after detecting that the terminal accesses the network. The control device according to claim 24, wherein the control device is a server; the flight log is obtained by the terminal corresponding to the drone from the drone and sent to the Server's. The control device according to claim 24, wherein the processor acquires, from the ADS-B module carried by the drone, the first aircraft information around the flight position of the drone detected by the ADS-B module, including : Acquiring first aircraft information around the flight position detected by the ADS-B module carried by the drone from the flight log. The control apparatus according to claim 24, wherein said flight position is one of a flight trajectory of said drone recorded on said flight day. The control device according to claim 20, wherein the exterior of the drone comprises: a designated website and/or a designated device external to the drone; The designated device includes: a device in a radar station, a device in an airport, or other device for providing aircraft information. The control device according to claim 20, wherein the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including: Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information; Calculating a ratio of the number L of aircraft in the intersection to the number M of aircraft in the aircraft set B. When the ratio is less than the first preset threshold, determining that the ADS-B module is invalid. The control device according to claim 30, wherein before the controller determines that the ADS-B module is invalid, the method further includes: It is determined that the aircraft in the aircraft set B having greater than or equal to the set ratio is included in the aircraft set A. The control device according to claim 20, wherein the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including: Determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information; Calculating a ratio of the number L of aircrafts in the intersection to the number N of aircrafts in the aircraft set A. When the ratio is greater than a second preset threshold, determining that the ADS-B module is invalid. The method according to claim 20, wherein the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including: When the number of aircraft of the aircraft set A in the first aircraft information is empty or less than a set threshold, and When the number of aircrafts M in the aircraft set B in the second aircraft information is greater than the third preset threshold, it is determined that the ADS-B module is invalid. The control device according to claim 20, wherein when the controller detects that the ADS-B module fails, the controller further includes: Perform safe flight control on the drone or issue a risk warning to the user. The control device according to claim 34, wherein said performing safe flight control on the drone comprises: If the drone is currently flying, a flight limit is issued to the drone to prevent flight risk. The control device according to claim 35, wherein said issuing a flight restriction to the drone includes: Forced return; and / or, Reduce the flying height of the drone. The control device according to claim 34, wherein said performing safe flight control on the drone comprises: If the drone is not currently flying, flight restrictions are imposed on the next flight of the drone to prevent flight risks. The method of claim 37 wherein said restricting flight to the next flight of the drone comprises: Limit the flying height of the drone. A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing: Obtaining first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone; Acquiring second aircraft information around the flight location from outside the drone; Determining that the ADS-B module fails based on the first aircraft information and the second aircraft information.

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