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WO2020155425A1 - Procédé de commande d'exclusion aérienne, appareil et dispositif pour véhicule aérien sans pilote, et support d'informations - Google Patents

Procédé de commande d'exclusion aérienne, appareil et dispositif pour véhicule aérien sans pilote, et support d'informations Download PDF

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Publication number
WO2020155425A1
WO2020155425A1 PCT/CN2019/083845 CN2019083845W WO2020155425A1 WO 2020155425 A1 WO2020155425 A1 WO 2020155425A1 CN 2019083845 W CN2019083845 W CN 2019083845W WO 2020155425 A1 WO2020155425 A1 WO 2020155425A1
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WIPO (PCT)
Prior art keywords
drone
external control
coordinate system
fly zone
acceleration
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Ceased
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PCT/CN2019/083845
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English (en)
Chinese (zh)
Inventor
尹亮亮
李少斌
张羽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Topxgun Nanjing Robotics Co Ltd
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Topxgun Nanjing Robotics Co Ltd
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Publication of WO2020155425A1 publication Critical patent/WO2020155425A1/fr
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Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • the embodiments of the present disclosure relate to the technical field of drones, for example, to a no-fly control method, device, equipment, and storage medium for drones.
  • UAV is an unmanned aerial vehicle operated by radio remote control equipment or its own program control device.
  • radio remote control equipment or its own program control device.
  • more and more drones are used in agriculture, forestry, electric power, surveying and mapping, telemetry and other industries, and security issues have also arisen, for example, in airports, military territories, and populations. It is undoubtedly very dangerous to fly in dense areas, downtown areas and other no-fly areas.
  • the drone judges the position of the no-fly zone during the flight, and avoids approaching or entering the no-fly zone to ensure that it can fly safely in a low-risk state.
  • the flight controller on the drone will calculate the distance between the drone and the no-fly zone boundary in real time. When the drone enters the no-fly zone alarm range, the drone will automatically land on the spot and no longer respond to the outside. Control instruction.
  • the related technology has the following defects: when the drone enters the no-fly zone alarm range, the drone will automatically land on the spot, unable to respond to external control commands, and lose other operational capabilities. It is prone to loss of drones, which brings users to operations. Great inconvenience, affecting the normal execution of drone missions.
  • the embodiments of the present disclosure provide a no-fly control method, device, equipment, and storage medium for drones to optimize the flight control method of drones in no-fly areas in related technologies, avoid the loss of drones, and improve user experience .
  • an embodiment of the present disclosure provides a no-fly control method for drones, including:
  • control the drone In response to determining that the drone has entered the safety alert area of the no-fly zone based on the current position information, control the drone to execute a safe flight mode;
  • the UAV In response to receiving an external control instruction during the process of the UAV executing the safe flight mode, the UAV is safely controlled according to the safe flight mode and the external control instruction.
  • the embodiment of the present disclosure also provides a no-fly control device for drones, including:
  • the information acquisition module is set to acquire the current position information of the UAV during the flight in real time
  • the flight mode control module is set to control the drone to execute the safe flight mode in response to determining that the drone enters the safety alert area of the no-fly zone based on the current position information;
  • the safety control module is configured to respond to receiving an external control instruction during the process of the UAV executing the safe flight mode, and perform safety control on the UAV according to the safe flight mode and the external control instruction.
  • the embodiment of the present disclosure further provides a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • a computer device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the computer program, any one of the present disclosure is implemented.
  • the no-fly control method of the drone provided by the embodiment.
  • the embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the UAV provided by any embodiment of the present disclosure is implemented. No-fly control method.
  • FIG. 1 is a flowchart of a no-fly control method for drones according to Embodiment 1 of the present disclosure
  • FIG. 2a is a flowchart of a no-fly control method for drones according to Embodiment 2 of the disclosure
  • FIG. 2b is a schematic diagram of a security alarm area provided in the second embodiment of the disclosure.
  • FIG. 3a is a flowchart of a no-fly control method for drones according to Embodiment 3 of the disclosure
  • FIG. 3b is a schematic diagram of the UAV provided in the third embodiment of the disclosure located in the secondary security alert area;
  • 3c is a schematic diagram of the movement direction of the drone corresponding to the external control command in the geodetic coordinate system and the angle range of the current position of the drone relative to the no-fly zone in the third embodiment of the disclosure;
  • FIG. 4 is a structural block diagram of a no-fly control device for drones according to the fourth embodiment of the disclosure.
  • FIG. 5 is a schematic structural diagram of a computer device provided by Embodiment 5 of the disclosure.
  • FIG. 1 is a flowchart of a no-fly control method for a drone provided by Embodiment 1 of the present disclosure. This embodiment can be applied to a situation where the drone is controlled in flight when the drone is approaching a no-fly area.
  • the method can be executed by a no-fly control device of the drone, which is executed by software and/or hardware, and can generally be integrated in the drone. As shown in Figure 1, the method may include the following steps:
  • Step 110 Acquire the current position information of the UAV during the flight in real time.
  • the current location information is the geographic location information of the drone.
  • the current position information during the flight is acquired in real time through the Global Positioning System (GPS) carried by the drone itself.
  • GPS Global Positioning System
  • the current position information of the drone is updated in real time.
  • Step 120 If it is determined according to the current position information that the drone has entered the safety alert zone of the no-fly zone, control the drone to execute a safe flight mode.
  • the no-fly zone refers to the airspace over a certain territory where any aircraft without a special application permission is prohibited from flying into or over.
  • the no-fly zone is specifically designated by the regulatory agency.
  • the no-fly zone data information refers to the pre-collected no-fly zone data information.
  • the shape of the no-fly zone can be circular or polygonal.
  • the no-fly zone data information includes at least the shape information of the no-fly zone. Since the no-fly zone can be regarded as a closed figure surrounded by a boundary line, and the closed figure can be a circle or a polygon, the shape information of the no-fly zone can be specifically the geographic location information of the horizontal boundary of the no-fly zone.
  • the shape information is the geographic location information of each vertex of the polygon forming the no-fly zone.
  • the shape information is geographic location information and radius information of the center of the circle forming the no-fly zone.
  • the geographic location information may be latitude and longitude information.
  • a no-fly zone can be uniquely determined from the no-fly zone data information.
  • the security alert zone refers to one or more area ranges set in the environment around the no-fly zone with reference to the no-fly zone.
  • the safety alert area may be a circular area with a no-fly area as the center, or a square area or a regular polygon area with the no-fly area as the center.
  • the security alert area may include at least two levels of security alert areas, and one or more points on the boundary of the security alert area of different levels have different distances to the boundary of the no-fly area.
  • Multiple levels of security alert areas can be set for the no-fly zone.
  • the boundary graphics of multiple levels of security alert areas can be similar graphics, and the coverage of different levels of security alert areas around the no-fly zone is different. For example, the distance between the no-fly zone and the boundary of the higher-level security alert zone is smaller. In other words, the distance between the drone and the no-fly zone is smaller when it enters the higher-level security alert zone.
  • the UAV determines in real time whether the UAV has entered the safety alert area of the no-fly zone, and then it can be determined whether it is necessary to control the UAV to perform a safe flight mode.
  • the safe flight mode can slow down in the current flight direction or hover in the current position.
  • the no-fly zone may be a two-dimensional plane area in the geodetic coordinate system determined according to the latitude and longitude information.
  • the safety alarm area may also be a two-dimensional plane area in the geodetic coordinate system.
  • the safety alert area is a two-dimensional plane area in the geodetic coordinate system. According to the current position information of the drone, determine the current position of the drone in the geodetic coordinate system, and determine whether the current position of the drone in the geodetic coordinate system is within the two-dimensional plane area corresponding to the safety alert area. If the current location is within the two-dimensional plane area corresponding to the safety alert area, it is determined that the drone has entered the safety alert area of the no-fly zone.
  • the drone has not entered the safety alert area of the no-fly zone. If it is determined that the drone has not entered the security alert area of the no-fly zone, there is no need to control the drone for safety.
  • control the drone if it is determined based on the current location information that the drone has entered the safety alert area of the no-fly zone, control the drone to slow down in the current flight direction and send an alarm signal to the control that matches the drone end.
  • the control terminal controls the flight status of the drone by generating and sending external control commands to the drone.
  • the control terminal may be a ground handheld control terminal for wireless communication with the drone. Send an alarm signal to the ground hand-held control terminal, and the ground hand-held control terminal sends out an alarm prompt.
  • the alarm prompt can be a buzzer, a voice broadcast or a text reminder on the display screen, so that the user of the ground handheld control terminal can issue an external control command to control the drone to adjust the flight direction.
  • control the drone if it is determined based on the current location information that the drone has entered the safety alert area of the no-fly zone, control the drone to hover at the current location and send an alarm signal to the control that matches the drone end.
  • the security alert area includes a primary security alert region and a secondary security alert region.
  • the center of the no-fly zone is The first concentric circle and the second concentric circle of the center, the radius of the first concentric circle is larger than the radius of the second concentric circle, and the radius of the second concentric circle is larger than the radius of the no-fly zone; divide the first concentric circle and the second concentric circle
  • the area enclosed by the middle is regarded as the first-level safety alert area
  • the area enclosed by the second concentric circle and the no-fly area is regarded as the second-level safety alert area.
  • the drone is controlled to slow down in the current flight direction, and a first-level alarm signal is sent to the control terminal that matches the drone. If it is determined based on the current location information that the drone has entered the secondary security alert area, the drone is controlled to hover at the current location and a secondary alert signal is sent to the control terminal that matches the drone.
  • the ground handheld control terminal after receiving the second-level alarm signal, the ground handheld control terminal emits a more rapid beep than the buzzer corresponding to the first-level alarm signal.
  • the user can also be notified by voice broadcast or text reminder. The user issues control instructions as soon as possible to control the drone to adjust the flight direction.
  • Step 130 If an external control instruction is received while the drone is executing the safe flight mode, the drone is safely controlled according to the safe flight mode and the external control instruction.
  • the external control command may include an automatic return home command, a left flight command, a right flight command, a forward flight command, and a backward flight command. If an external control instruction is received while the drone is executing the safe flight mode, the drone will be safely controlled according to the safe flight mode and the external control instruction.
  • control if an external control command is received while the drone is executing the safe flight mode, the control will be based on the safe flight mode matching the safety alert area, the current location information of the drone, and the external control command. Command type, control the drone to execute external control commands, or control the drone to maintain a safe flight mode.
  • the angle range of the current position of the drone relative to the no-fly zone in the geodetic coordinate system determines and external control Instruct the corresponding UAV's movement direction in the geodetic coordinate system; if it is determined that the movement direction is within the included angle range, control the UAV to maintain a safe flight mode; if it is determined that the movement direction is not within the included angle range, then control the UAV Execute external control instructions.
  • the security alert area includes a primary security alert region and a secondary security alert region.
  • the center of the no-fly zone is The first concentric circle and the second concentric circle of the center, the radius of the first concentric circle is larger than the radius of the second concentric circle, and the radius of the second concentric circle is larger than the radius of the no-fly zone; divide the first concentric circle and the second concentric circle
  • the area enclosed by the space is regarded as the first-level safety alert area
  • the area enclosed by the second concentric circle and the no-fly area is regarded as the second-level safety alert area.
  • the UAV receives an external control instruction during the process of executing the safe flight mode matching the first-level safety alert area, it will directly control the UAV to execute the external control instruction. If the drone receives an external control command during the process of executing the safe flight mode matching the secondary safety alert area, it will determine whether the drone is controlled according to the direction of movement of the drone in the earth coordinate system generated by the external control command. The man-machine executes external control instructions.
  • This embodiment provides a no-fly control method for drones.
  • acquiring the current position information of the drone during flight in real time it is determined according to the current position information that the drone enters the no-fly zone in the security alert area
  • Control the drone to execute the safe flight mode when the drone is in the safe flight mode Then, if an external control command is received during the drone execution, the drone will be safely controlled according to the safe flight mode and the external control command. It solves the problem in related technologies that when the drone enters the no-fly zone alarm range, the drone will automatically land on the spot, unable to respond to external control commands, lose other operational capabilities, and prone to loss of drones.
  • the drone In the security alert area of the no-fly area, the drone is safely controlled according to the safe flight mode corresponding to the security alert area and external control instructions.
  • the drone does not need to land, which can avoid the loss of the drone and improve the drone. Flight safety improves user experience.
  • Fig. 2a is a flowchart of a no-fly control method for drones provided in the second embodiment of the disclosure.
  • the security alert area includes a first-level security alert area and a second-level security alert area; among them, in the no-fly area
  • the shape of is a circle, according to the center and radius of the no-fly zone, and the radius that matches the first-level safety alert zone and the second-level safety alert zone
  • the first concentric circle with the center of the no-fly zone as the center is obtained
  • the second concentric circle, the radius of the first concentric circle is greater than the radius of the second concentric circle, and the radius of the second concentric circle is greater than the radius of the no-fly zone;
  • the area enclosed by the first concentric circle and the second concentric circle is taken as The first level safety alert zone, the area enclosed by the second concentric circle and the no-fly zone is regarded as the second level safety alert zone
  • control the drone to execute the safe flight mode including: if it is determined based on the current location information that the drone has entered the first level security alert area In the middle, the drone is controlled to decelerate in the current flight direction, and a first-level alarm signal is sent to the control terminal matching the drone; the control terminal is set to generate external control commands.
  • the drone is safely controlled, including: controlling the drone to execute external control instructions according to the safe flight mode that matches the first-level security alert area.
  • the method may include the following steps:
  • Step 210 Acquire the current position information of the UAV during the flight in real time.
  • Step 220 If it is determined based on the current location information that the drone has entered the first-level safety alert area, control the drone to slow down in the current flight direction, and send a first-level alarm signal to the control terminal that matches the drone; where , The control terminal is set to generate external control commands.
  • FIG. 2b is a schematic diagram of a security alarm area provided by an embodiment of the disclosure.
  • the no-fly zone is a two-dimensional circular plane area in the geodetic coordinate system determined according to the latitude and longitude information.
  • the security alarm area is also a two-dimensional planar circular area in the geodetic coordinate system.
  • N is the true north direction under the geodetic coordinate system.
  • E is the true east direction under the geodetic coordinate system.
  • the security alarm area includes a first-level security alarm area and a second-level security alarm area.
  • the shape of the no-fly zone is circular.
  • the first concentric circle and the second concentric circle with the center of the no-fly zone as the center are obtained.
  • the radius of the first concentric circle is greater than the radius of the second concentric circle.
  • the radius of the second concentric circle is larger than the radius of the no-fly zone.
  • the area enclosed by the first concentric circle is regarded as the first-level safety alarm area, and the area enclosed by the second concentric circle is regarded as the second-level safety alarm area.
  • the drone is controlled to slow down in the current flight direction, and an alarm signal is sent to the control terminal that matches the drone.
  • the control terminal controls the flight status of the drone by generating and sending external control commands to the drone.
  • the control terminal may be a ground handheld control terminal for wireless communication with the drone. Send an alarm signal to the ground hand-held control terminal, and the ground hand-held control terminal sends out an alarm prompt.
  • the alarm prompt can be a buzzer, a voice broadcast or a text reminder on the display screen, so that the user of the ground handheld control terminal can issue an external control command to control the drone to adjust the flight direction.
  • Step 230 If an external control instruction is received while the UAV is executing the safe flight mode, control the UAV to execute the external control instruction according to the safe flight mode matching the first-level safety alert area.
  • the drone if it receives an external control instruction during the process of executing the safe flight mode matching the first-level security alert area, it will directly control the drone to execute the external control instruction.
  • the no-fly control method for drones controls the drone to decelerate in the current flight direction when it is determined that the drone enters the first-level security alert area based on the current position information, and sends a Level-level alarm signal to the control terminal that matches the drone, and if an external control instruction is received while the drone is executing a safe flight mode that matches the level-one security alert area, it will directly control the drone to perform external control Instruction, when the drone enters the no-fly zone safety alert zone, make corresponding flight strategies according to different safety alert zones to prevent the drone from entering the no-fly zone by mistake.
  • Fig. 3a is a flowchart of a no-fly control method for drones provided in the third embodiment of the disclosure.
  • the security alert area includes a first-level security alert area and a second-level security alert area; among them, in the no-fly area
  • the shape of is a circle, according to the center and radius of the no-fly zone, and the radius that matches the first-level safety alert zone and the second-level safety alert zone
  • the first concentric circle with the center of the no-fly zone as the center is obtained
  • the second concentric circle, the radius of the first concentric circle is greater than the radius of the second concentric circle, and the radius of the second concentric circle is greater than the radius of the no-fly zone;
  • the area enclosed by the first concentric circle and the second concentric circle is taken as The first level safety alert zone, the area enclosed by the second concentric circle and the no-fly zone is regarded as the second level safety alert zone
  • control the drone to perform a safe flight mode including: if it is determined that the drone has entered the secondary security alert area based on the current location information In the middle, the drone is controlled to hover at the current position, and a secondary alarm signal is sent to the control terminal that matches the drone; the control terminal is set to generate external control commands.
  • the drone is safely controlled, including: according to the safe flight mode that matches the secondary security alert area, the current location information of the drone, and the instruction type of the external control instruction, Control the drone to execute external control instructions, or control the drone to maintain a safe flight mode.
  • the method may include the following steps:
  • Step 310 Acquire the current position information of the drone during the flight in real time.
  • Step 320 If it is determined based on the current location information that the drone has entered the secondary safety alert area, control the drone to hover at the current location, and send a secondary alarm signal to the control terminal that matches the drone; where, The control terminal is set to generate external control commands.
  • FIG. 3b is a schematic diagram of the drone provided in an embodiment of the present disclosure being located in a secondary security alert area.
  • the no-fly zone is a two-dimensional circular plane area in the geodetic coordinate system determined according to the latitude and longitude information.
  • the security alarm area is also a two-dimensional planar circular area in the geodetic coordinate system.
  • N is the true north direction under the geodetic coordinate system.
  • E is the true east direction under the geodetic coordinate system.
  • the shape of the no-fly zone is circular.
  • the area enclosed by the first concentric circle is the first-level safety alarm area, and the area enclosed by the second concentric circle is the second-level safety alarm area.
  • the radius of the first concentric circle is greater than the radius of the second concentric circle.
  • the radius of the second concentric circle is larger than the radius of the no-fly zone.
  • the drone is located in the secondary security alert area.
  • the drone is controlled to hover at the current location and an alarm signal is sent to the control terminal that matches the drone.
  • the ground handheld control terminal emits a more rapid beep than the buzzer corresponding to the first-level alarm signal.
  • the user can also be notified by voice broadcast or text reminder. The user issues control instructions as soon as possible to control the drone to adjust the flight direction.
  • Step 330 If an external control instruction is received during the drone's safe flight mode, it will be based on the safe flight mode that matches the secondary safety alert area, the current location information of the drone, and the instruction type of the external control instruction , Control the drone to execute external control instructions, or control the drone to maintain a safe flight mode.
  • the UAV receives an external control instruction during the process of executing the safe flight mode matching the secondary safety alert area
  • the UAV's movement direction in the earth coordinate system generated by the external control instruction is used to determine whether Control the drone to execute external control commands.
  • the drone is controlled to execute the external control command according to the safe flight mode matched with the secondary safety alert zone, the current location information of the drone, and the command type of the external control command , Or controlling the UAV to maintain the safe flight mode, including: determining the current position of the UAV relative to the no-fly area based on the UAV’s current location information and the no-fly area data information The range of the angle under the system; determine the direction of movement of the drone in the earth coordinate system corresponding to the external control command; if the direction of movement is determined to be within the range of the angle, control the drone to maintain a safe flight mode, that is, control the unmanned The drone keeps hovering; if it is determined that the movement direction is not within the angle range, the drone is controlled to execute external control commands.
  • determining the angle range of the current location of the drone relative to the no-fly zone in the geodetic coordinate system includes: The flying area data information determines the area shape of the no-fly area; if the area shape of the no-fly area is determined to be a circle, the angle range of the current position of the drone relative to the no-fly area in the geodetic coordinate system is the current drone The angle between the position and the two tangents of the no-fly zone; if it is determined that the shape of the no-fly zone is a polygon, the angle range of the drone's current position relative to the no-fly zone in the geodetic coordinate system is that of the drone The maximum angle formed by the connection between the current position and the multiple vertices of the no-fly zone.
  • determining the movement direction of the drone in the geodetic coordinate system corresponding to the external control command includes: determining the body acceleration generated by the external control command, the body acceleration is the acceleration in the body coordinate system, and the body acceleration includes: The acceleration in the x-axis direction of the body coordinate system generated by the external control command, the acceleration in the y-axis direction of the body coordinate system generated by the external control command, and the acceleration in the z-axis direction of the body coordinate system generated by the external control command; according to the following formula, the body acceleration The acceleration in the body coordinate system is transformed into the acceleration in the geodetic coordinate system, and the acceleration of the UAV in the geodetic coordinate system corresponding to the external control command is obtained. The acceleration of the UAV in the geodetic coordinate system corresponding to the external control command is obtained. The acceleration in the direct east direction of the system:
  • a N is the acceleration of the UAV corresponding to the external control command in the true north direction in the geodetic coordinate system
  • a E is the acceleration of the UAV corresponding to the external control command in the true east direction in the geodetic coordinate system
  • a x Is the acceleration in the x-axis direction of the body coordinate system generated by the external control command
  • a y is the acceleration in the y-axis direction of the body coordinate system generated by the external control command
  • a z is the acceleration in the z-axis direction of the body coordinate system generated by the external control command
  • ⁇ is the yaw angle of the UAV
  • ⁇ is the roll angle of the UAV
  • the acceleration of the drone in the true north direction in the geodetic coordinate system corresponding to the external control command, and the acceleration of the drone in the true east direction in the geodetic coordinate system corresponding to the external control command, according to the vector The calculation rules are added together, and the direction of the vector obtained is the movement direction of the drone in the geodetic coordinate system corresponding to the external control command.
  • the body coordinate system refers to a three-dimensional orthogonal rectangular coordinate system fixed on the drone and following the right-hand rule. Its origin o is located at the center of gravity of the drone, and the x-axis of the body coordinate system is located in the reference plane of the drone and parallel to the axis of the fuselage. Point to the front of the drone, the y-axis of the body coordinate system is perpendicular to the reference plane of the drone and points to the right of the drone, and the z-axis of the body coordinate system is perpendicular to the xoy plane in the reference plane and points to the bottom of the drone.
  • the pitch angle is the angle between the drone's body axis and the ground plane (horizontal plane), taking the drone's head up as positive.
  • the yaw angle is the angle between the projection of the drone's body axis on the horizontal plane and the earth's axis, and the right deviation of the drone's nose is regarded as positive.
  • the roll angle tilt angle is the angle at which the plane of symmetry of the drone rotates around the axis of the aircraft body, and the right roll is positive.
  • Fig. 3c is a schematic diagram of the movement direction of the drone corresponding to an external control command in the geodetic coordinate system and the angle range of the current position of the drone relative to the no-fly zone in the third embodiment of the disclosure.
  • N is the true north direction in the geodetic coordinate system.
  • E is the true east direction under the geodetic coordinate system.
  • the no-fly zone is a two-dimensional planar circular area in the geodetic coordinate system.
  • the center of the circle is O.
  • P is the current position of the UAV in the geodetic coordinate system.
  • the drone is located in the secondary security alert area.
  • the angle range of the current position of the drone relative to the no-fly zone in the geodetic coordinate system is the angle ⁇ between the current position of the drone and the two tangent lines PA and PB of the no-fly zone.
  • a N is the acceleration of the drone in the true north direction in the geodetic coordinate system corresponding to the external control command
  • a E is the acceleration of the drone in the true east direction in the geodetic coordinate system corresponding to the external control command.
  • the direction of the ray PC is the movement direction of the drone in the geodetic coordinate system corresponding to the external control command.
  • the movement direction of the UAV corresponding to the external control command in the geodetic coordinate system is not within the angle range of the current position of the UAV relative to the no-fly zone in the geodetic coordinate system, then the unmanned will be controlled
  • the machine executes external control instructions.
  • This embodiment provides a no-fly control method for drones, which controls the drone to hover at the current position when it is determined that the drone enters the secondary security alert area based on the current position information, and sends the secondary
  • the alarm signal is sent to the control terminal that matches the UAV, and if the UAV receives an external control instruction while the UAV executes the safe flight mode that matches the secondary security alert area, it will match with the secondary security alert area
  • the current position of the drone and the direction of movement generated by the external control command can be used to determine whether to execute the external control command. Only when the external control command is generated The external control command is executed when the movement direction is far away from the no-fly zone. Otherwise, the drone is controlled to keep hovering until it receives an external control command that the movement direction is far away from the no-fly zone. During this process, the drone does not need to land , Improve the flight efficiency and flight safety of the drone, can avoid the loss of the drone, and improve the user experience.
  • Fig. 4 is a structural block diagram of a no-fly control device for drones provided in the fourth embodiment of the disclosure. As shown in FIG. 4, the device includes: an information acquisition module 401, a flight mode control module 402, and a safety control module 403.
  • the information acquisition module 401 is set to acquire the current position information of the drone during flight in real time; the flight mode control module 402 is set to determine if the drone enters the no-fly zone safety alert area according to the current position information , The drone is controlled to execute the safe flight mode; the safety control module 403 is set to if an external control command is received during the drone's execution of the safe flight mode, it will control the drone according to the safe flight mode and the external control command.
  • Man-machine safety control is set to acquire the current position information of the drone during flight in real time; the flight mode control module 402 is set to determine if the drone enters the no-fly zone safety alert area according to the current position information , The drone is controlled to execute the safe flight mode; the safety control module 403 is set to if an external control command is received during the drone's execution of the safe flight mode, it will control the drone according to the safe flight mode and the external control command.
  • Man-machine safety control is set to acquire the current position information of the drone during flight in real time
  • This embodiment provides a no-fly control method for drones.
  • acquiring the current position information of the drone during flight in real time it is determined according to the current position information that the drone enters the no-fly zone in the security alert area
  • Control the drone to execute the safe flight mode when the drone is in the safe flight mode Then, if an external control command is received during the drone execution, the drone will be safely controlled according to the safe flight mode and the external control command. It solves the problem in related technologies that when the drone enters the no-fly zone alarm range, the drone will automatically land on the spot, unable to respond to external control commands, lose other operational capabilities, and prone to loss of drones.
  • the drone In the security alert area of the no-fly zone, the drone is safely controlled according to the safe flight mode corresponding to the security alert area and external control instructions.
  • the drone does not need to land, which can avoid the loss of the drone and improve the drone. Flight safety improves user experience.
  • the safety alert area may include a first-level safety alert area and a second-level safety alert area; wherein, in the case that the shape of the no-fly area is a circle, according to the center of the no-fly area , Radius, and the radii respectively matching the first-level security alarm area and the second-level security alarm area, the first concentric circle and the second concentric circle centered on the center of the no-fly area are obtained.
  • the radius of the first concentric circle is larger than the second
  • the radius of the concentric circle, the radius of the second concentric circle is larger than the radius of the no-fly zone; the area enclosed by the first concentric circle and the second concentric circle is regarded as the first-level safety alert zone, and the second concentric circle is connected to the no-fly zone
  • the area enclosed between the zones serves as the secondary security alarm zone.
  • the flight mode control module 402 may include: a first mode sub-module configured to control the unmanned aircraft if it is determined that the drone enters the first-level security alert area according to the current position information The aircraft decelerates in the current flight direction and sends a first-level alarm signal to the control terminal that matches the drone; or the second mode sub-module is set to determine if the drone enters the second-level security alert area based on the current position information , The drone is controlled to hover at the current position, and a secondary alarm signal is sent to the control terminal that matches the drone; the control terminal is set to generate external control commands.
  • the safety control module 403 may include: a first control sub-module configured to control the drone to execute external control instructions according to a safe flight mode matching the first-level safety alert zone; or The second control sub-module is set to control the drone to execute external control instructions or control the drone according to the safe flight mode that matches the secondary security alert area, the current position information of the drone, and the command type of the external control command Maintain a safe flight mode.
  • the second control sub-module may include: an included angle range determining unit configured to determine the unmanned area according to the current position information of the drone and the no-fly zone data information of the no-fly zone The current position of the aircraft relative to the no-fly zone in the geodetic coordinate system; the movement direction determination unit is set to determine the UAV's movement direction in the geodetic coordinate system corresponding to the external control command; the state holding unit is set to If it is determined that the movement direction is within the included angle range, the drone is controlled to maintain a safe flight mode; the instruction execution unit is set to control the UAV to execute external control instructions if it is determined that the movement direction is not within the included angle range.
  • an included angle range determining unit configured to determine the unmanned area according to the current position information of the drone and the no-fly zone data information of the no-fly zone The current position of the aircraft relative to the no-fly zone in the geodetic coordinate system
  • the movement direction determination unit is set to determine the UAV's movement direction in the geodetic
  • the included angle range determining unit may include: a shape determining subunit configured to determine the area shape of the no-fly zone according to the no-fly zone data information; the first range subunit is set as if If the area shape of the no-fly zone is determined to be circular, the angle range of the current position of the drone relative to the no-fly zone in the geodetic coordinate system is the angle between the current position of the drone and the two tangents of the no-fly zone; The second range subunit is set to if it is determined that the shape of the no-fly zone is a polygon, the angle range between the current position of the drone and the no-fly zone in the geodetic coordinate system is the current position of the drone and the no-fly respectively The maximum angle formed by the connection of multiple vertices of the region.
  • the motion direction determining unit may include: a first determining subunit configured to determine body acceleration generated by an external control command, the body acceleration is the acceleration in the body coordinate system, and the body acceleration includes: The acceleration in the x-axis direction of the body coordinate system generated by the external control command, the acceleration in the y-axis direction of the body coordinate system generated by the external control command, and the acceleration in the z-axis direction of the body coordinate system generated by the external control command; the conversion subunit is set to be based on The following formula converts the body acceleration from the acceleration in the body coordinate system to the acceleration in the geodetic coordinate system, and obtains the acceleration of the drone in the true north direction in the geodetic coordinate system corresponding to the external control command, and the acceleration corresponding to the external control command The acceleration of the drone in the true east direction under the geodetic coordinate system:
  • a N is the acceleration of the UAV corresponding to the external control command in the true north direction in the geodetic coordinate system
  • a E is the acceleration of the UAV corresponding to the external control command in the true east direction in the geodetic coordinate system
  • a x Is the acceleration in the x-axis direction of the body coordinate system generated by the external control command
  • a y is the acceleration in the y-axis direction of the body coordinate system generated by the external control command
  • a z is the acceleration in the z-axis direction of the body coordinate system generated by the external control command
  • ⁇ is the yaw angle of the UAV
  • ⁇ is the roll angle of the UAV
  • the second determining subunit is set to the UAV corresponding to the external control command in the geodetic coordinate system
  • the acceleration in the true north direction and the acceleration in the true east direction of the UAV corresponding to the external control command in the geodetic coordinate system determine the movement direction of the U
  • the no-fly control device for drones provided by the embodiments of the present disclosure can execute the no-fly control method for drones provided by any embodiment of the present disclosure, and has functional modules and effects corresponding to the execution method.
  • FIG. 5 is a schematic structural diagram of a computer device provided by Embodiment 5 of the disclosure.
  • the computer equipment includes a processor 501, a memory 502, an input device 503, and an output device 504.
  • the number of processors 501 in the computer equipment may be one or more.
  • one processor 501 is taken as an example; the processor 501, memory 502, input device 503, and output device 504 in the computer equipment may use a bus or other means. Connection, Figure 5 takes the connection via the bus as an example.
  • the memory 502 can be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the no-fly control method for drones in the embodiments of the present disclosure (for example, no The information acquisition module 401, the flight mode control module 402 and the safety control module 403 in the no-fly control device for man-machines).
  • the processor 501 executes one or more functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 502, that is, realizes the above-mentioned no-fly control method for drones.
  • the memory 502 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 502 may further include a memory remotely provided with respect to the processor 501, and these remote memories may be connected to a computer device through a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 503 may be configured to receive inputted numeric or character information, and generate key signal inputs related to user settings and function control of the computer equipment.
  • the output device 504 may include a voice output device.
  • the sixth embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored.
  • the no-fly control method for a drone provided by the embodiment of the present disclosure is implemented, and the method includes : Obtain the current position information of the drone during the flight in real time; if it is determined based on the current position information that the drone has entered the safety alert area of the no-fly zone, control the drone to execute the safe flight mode; if the drone is in In the process of executing the safe flight mode, if an external control command is received, the drone will be safely controlled according to the safe flight mode and the external control command.
  • the computer storage media of the embodiments of the present disclosure may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above.
  • Computer-readable storage media include (non-exhaustive list): electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory, ROM), Erasable Programmable Read Only Memory (EPROM) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage devices, magnetic storage Pieces, or any suitable combination of the above.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • the computer program code used to perform the operations of the present disclosure can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network-including Local Area Network (LAN) or Wide Area Network (WAN)-or it can be connected to an external computer ( For example, use an Internet service provider to connect via the Internet).
  • LAN Local Area Network
  • WAN Wide Area Network

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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

L'invention concerne un procédé de commande d'exclusion aérienne, un appareil et un dispositif pour un véhicule aérien sans pilote, et un support d'informations. Le procédé de commande d'exclusion aérienne consiste : à acquérir, en temps réel, des informations de position actuelle d'un véhicule aérien sans pilote durant un vol (110) ; s'il est déterminé, en fonction des informations de position actuelle, que le véhicule aérien sans pilote entre dans une zone d'alerte de sécurité d'une zone d'exclusion aérienne, à commander au véhicule aérien sans pilote d'exécuter un mode de vol de sécurité (120) ; et si une instruction de commande externe est reçue tandis que le véhicule aérien sans pilote exécute le mode de vol de sécurité, à procéder à une commande de sécurité sur le véhicule aérien sans pilote en fonction du mode de vol de sécurité et de l'instruction de commande externe (130).
PCT/CN2019/083845 2019-01-31 2019-04-23 Procédé de commande d'exclusion aérienne, appareil et dispositif pour véhicule aérien sans pilote, et support d'informations Ceased WO2020155425A1 (fr)

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WO2021081995A1 (fr) * 2019-11-01 2021-05-06 深圳市大疆创新科技有限公司 Procédé et dispositif de traitement de données, dispositif de stockage de données et système de commande de mouvement
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CN110908391A (zh) * 2019-12-31 2020-03-24 深圳市道通智能航空技术有限公司 机场限制方法及装置、无人机
CN112133073A (zh) * 2020-09-29 2020-12-25 广州极飞科技有限公司 无人机禁飞区域确定、无人机的禁飞控制方法及装置
CN112241178B (zh) * 2020-09-30 2022-01-25 成都飞机工业（集团）有限责任公司 一种无人机自主安全控制方法
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