WO2019000424A1

WO2019000424A1 - Flight control method and device, monitoring method and device, and storage medium

Info

Publication number: WO2019000424A1
Application number: PCT/CN2017/091242
Authority: WO
Inventors: 周毅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-06-30
Filing date: 2017-06-30
Publication date: 2019-01-03
Also published as: CN108700882A; CN114779796A

Abstract

Provided are a flight control method and device for an unmanned aerial vehicle, a flight monitoring method and device, and a machine-readable storage medium. The flight control method comprises: acquiring a flight range of an unmanned aerial vehicle (step 10); acquiring, according to the flight range, flight environment information of the unmanned aerial vehicle (step 11); and generating warning information when existence of safety risks is determined according to the flight environment information of the unmanned aerial vehicle (step 12).

Description

Flight control method and device, monitoring method and device, and storage medium

Technical field

The invention relates to the technical field of drones, in particular to a method and device for controlling flight of a drone, a monitoring method and device, and a storage medium.

Background technique

With the wide application of drones in various fields, the safety problems of drones are becoming more and more prominent. Especially when the drones are moving at high speed, the users who operate the drones are difficult to grasp by the human eye. The flight conditions around the aircraft, so the safety of the drone in flight cannot be guaranteed.

Summary of the invention

The invention provides a drone flight control method and device, a flight monitoring method and device, and a machine readable storage medium.

According to a first aspect of the embodiments of the present invention, a drone flight control method is provided, which is applied to a server, and the method includes:

Obtain the flight range of the drone;

Obtaining flight environment information of the drone according to the flight range;

When it is determined that there is a security threat according to the flight environment information of the drone, a warning message is generated.

According to a second aspect of the embodiments of the present invention, a method for monitoring a flight of a drone includes:

Obtain the flight range of the drone;

The flight range of the drone is sent to the server.

According to a third aspect of the embodiments of the present invention, there is provided a machine readable storage medium storing machine executable instructions that, when invoked and executed by a processor, cause the The processor performs the flight control method described above.

According to a fourth aspect of the embodiments of the present invention, there is provided a drone flight control apparatus including a processor and a memory, the memory storing a machine executable instruction, the processor being used when being called and executed by a processor The flight control method described above is performed.

According to a fifth aspect of the embodiments of the present invention, a drone flight monitoring apparatus includes a processor and a memory, the memory storing a machine executable instruction, when being called and executed by a processor, the monitoring apparatus may Execution of instructions causes the processor to perform the flight monitoring method described above.

The UAV flight control method according to the embodiment of the present invention can acquire the flight environment information of the drone through the flight range, thereby determining whether there is a security threat within the flight range, and when there is a security threat, generating a warning message to improve the unmanned The safety of aircraft flight.

The above general description and the following detailed description are intended to be illustrative and not restrictive.

DRAWINGS

1 is a flow chart of a method for controlling flight of a drone according to an embodiment of the present application;

2 is a flow chart of a method for controlling flight of a drone according to another embodiment of the present application;

3 is a flow chart of a method for controlling flight of a drone according to still another embodiment of the present application;

4 is a flow chart of a method for controlling flight of a drone according to another embodiment of the present application;

FIG. 5 is a flowchart of a flight control method of a drone according to still another embodiment of the present application; FIG.

6 is a flowchart of a method for controlling flight of a drone according to another embodiment of the present application;

7a-7e are schematic diagrams showing the coincidence of the flight range of the current drone with the flight range of other flying objects in an embodiment of the present application;

FIG. 8 is a flowchart of a method for monitoring flight of a drone according to an embodiment of the present application; FIG.

9 is a flowchart of a method for monitoring flight of a drone according to another embodiment of the present application;

FIG. 10 is a flowchart of a method for monitoring flight of a drone according to still another embodiment of the present application; FIG.

11 is a flowchart of a method for monitoring flight of a drone according to another embodiment of the present application;

12 is a flowchart of a method for monitoring flight of a drone according to still another embodiment of the present application;

13 is a block diagram of a server in an embodiment of the present application;

14 is a flowchart of a process in which a server interacts with a terminal or a drone according to an embodiment of the present application;

15 is a flowchart of a process of interacting between a server and a terminal or a drone according to another embodiment of the present application;

FIG. 16 is a flowchart of a process of interacting a server with a terminal or a drone according to another embodiment of the present application.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices, systems, devices, and methods consistent with aspects of the invention as detailed in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The embodiment of the present invention provides a UAV flight control method, which is applied to a server. The type of the server is not limited in the embodiment of the present invention, and may be various servers with computing capabilities.

Referring to Figure 1, the method includes the following steps:

Step 10: Obtain the flight range of the drone.

The range of flight of the drone refers to the range in which the drone may fly during flight or the range in which it needs to be vigilant during flight. In some embodiments, the range of flight is obtained by estimating the range that the drone may fly in during the flight before or during the flight. In some embodiments, the range of flight is a range in which the current state is to be alerted based on the current state during drone flight. The range may be a flat space or a three-dimensional space, and the flight range before take-off and the flight range in flight may be the same or different.

The flight range of different types of drones may be different, and the flight range may be determined according to the type of the drone, the flight environment in which the drone is located, the flight state of the drone, and the like.

The flight range may be sent to the server by a terminal or a drone, wherein the terminal is provided with an application for communicating with the drone; or the server calculates the flight range by itself based on the flight data of the received drone.

The terminal can include various terminals, such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, and the like.

Step 11. Obtain flight environment information of the drone according to the flight range.

The flight environment information refers to various environmental factors within a certain range that may affect the normal flight of the drone. The certain range may include a range of flight, which may be less than, equal to, or greater than the range of the flight range. The flight environment information may include but not It is limited to: the temperature, humidity, air pressure, terrain conditions, meteorological conditions of the flight environment or whether the flight range of the drone is at least partially coincident with the flight range of other flying objects.

Environmental factors such as temperature, humidity, air pressure, terrain conditions or meteorological conditions in the flight environment usually vary little within a certain wide range. Therefore, the current flight environment information of the drone can be within a large range covering the flight range. Temperature, humidity, air pressure, terrain conditions, or weather conditions may not be accurate to the flight range.

At least partially coincident with the flight range of other flying objects, including that the current drone's flight range partially coincides with or coincides with the flight range of other other flying objects, and other flying objects may include other drones or aircraft.

Step 12: Generate a warning message when it is determined that there is a security threat according to the flight environment information of the drone.

Further determine whether there is a security threat through the flight environment information, whether there is a security threat, whether the drone can meet the preset flight condition through the flight environment information, and when the preset flight condition is not met, the UAV has a security threat and generates Warning message. The server may return the warning information to the terminal or the drone. The warning information may include multiple types. For example, the warning information may include different security levels. When the terminal receives the warning information, the current drone has a security threat. Prompting the user to perform the corresponding flight control operation, or the drone directly receives the warning message, the automatically generated flight control operation for the drone, without the user manually performing the relevant operation, and the flight control operation can control the flight state of the drone For example, stopping take-off, forced landing, limiting or changing the flight range of the drone, making the drone hovering, etc., thereby preventing the drone from flying in an unsafe environment.

In this embodiment, the flight environment information of the drone can be obtained through the flight range, thereby determining whether there is a security threat within the flight range, and when there is a security threat, a warning message can be generated to improve the safety of the drone flight, The machine readable storage medium of the server stores executable instructions that, when invoked and executed by the processor of the server, cause the processor to perform the method of the present embodiment, and can detect the surroundings without installing sensor hardware on the drone Whether there are security threats in the environment, therefore, not only can reduce the cost of the drone, but also avoid the compatibility of the existing hardware and software of the drone with the installed sensor hardware.

In an optional implementation manner, as shown in FIG. 2, the flight range of the acquiring drone of the above step 10 includes:

Step 101: Receive a flight range of the drone that is sent before the drone takes off.

In this embodiment, the flight range is sent by the terminal or the drone before the take-off, and the flight range is reported to the server before the drone takes off, and the flight range may be a flight range estimated by the drone before the flight. For example, the flight range may include: taking a position before the take-off of the drone as a reference point, covering a preset space range of the reference point, the preset space range may be according to a drone's own parameter (for example, a drone type) Number and drone type) determined or set by the user using the drone.

In some embodiments, the flight range may include a circular range with the radius of the flight radius as a center of the drone's pre-flight position, if the drone is a user-operated entertainment or civilian drone Since the terminal is provided with an application for communicating with the drone, the drone operator can input the estimated flight radius according to the situation through the interface of the application, or the drone operator is specifically used for control. The estimated flight radius is input on the interface of the remote control of the human machine. In some embodiments, the estimated flight radius may be a default value, which may be the maximum visual distance that the drone user can safely operate, such as 500 meters; if the drone is an industrial use that does not require user operation For drones, the estimated flight radius can be determined based on the model of the drone, such as the maximum flight radius determined by the model of the drone.

Receiving the flight range of the drone sent before the drone takes off, the flight condition around the drone can be initially detected before the drone takes off, and the airspace environment of the flight area in which the flight range is located is known in advance, and A warning area is also pre-arranged for the next flight, and the server or user can determine whether to take off at the current location through the flight environment information.

In an optional implementation manner, the acquiring the flight range of the drone in the above step 10 includes:

Step 102: Receive a flight range of the drone transmitted in the flight of the drone.

In this embodiment, the flight range is transmitted by the terminal or the drone in flight, and the flight range is the flight range of the drone in the flight state of the flight, which is usually different from the flight range before the takeoff, due to The flight position in a man-machine flight is usually dynamically changing, and therefore, the flight range is dynamically changed and moves as the flight position moves. The flight speed of the drone is different, and the flight range can be different in size. For example, when the drone moves at a high speed, the flight range can be appropriately expanded. Large, and when the drone moves at low speed or hover, the flight range should be appropriately reduced.

Receiving the flight range of the drone transmitted during the flight of the drone, the flight state around the drone can be grasped in real time during the flight of the drone, and the airspace environment of the flight area in which the flight range is located can be known in real time, and It also draws a warning zone for the drone to fly, and the server or user can determine whether the drone has a security threat through the flight environment information determined by the real-time flight range.

There are two types of flight range for the terminal or drone to transmit to the server. The corresponding flight range of the unmanned aerial vehicle in the above step 10 includes the following two cases:

In the first case, the terminal or the drone directly sends the flight range to the server. For the server, as shown in FIG. 3, the flight range of the acquiring drone described in step 10 includes:

Step 103: Receive a flight position and a warning radius sent by the drone during flight, that is, the flight range at this time specifically includes a flight position and a warning radius, and the flight range may be a circular area with the flight position as a center and a warning radius as a radius. The warning radius is calculated by the terminal or the drone based on the flight dynamic information of the drone. Flight dynamics information may include flight speed, flight altitude, flight angle (eg, pitch angle, roll angle, and heading angle of the drone) and flight attitude (eg, hovering), and the like.

In the second case, the terminal or the drone sends the flight position and flight dynamic information to the server. For the server, as shown in FIG. 4, the flight range of the unmanned aerial vehicle described in the above step 10 includes:

Step 104: Receive flight position and flight dynamic information sent during flight of the drone;

Step 105: Taking the flight position as a reference point, determining a flight range covering the reference point according to the flight dynamic information.

In an optional implementation manner, as shown in FIG. 5, the flight position is used as a reference point, and the flight range covering the reference point is determined according to the flight dynamic information, including:

Step 1051: Determine a warning radius according to flight dynamic information;

Step 1052: Determine a flight range of the drone, the flight range includes a circular area with a flight position as a center and a warning radius as a radius.

In this embodiment, the server calculates the warning radius based on the received flight dynamic information, and then the flight range in flight can be obtained according to the flight position and the warning radius.

In an optional implementation manner, the magnitude of the warning radius changes according to the change of the flight dynamic information of the drone, and the warning radius can represent the flight range that needs to be guarded during the flight of the drone. The larger the warning radius, the larger the flight range. The smaller the warning radius is, the smaller the flight range is. The size of the warning radius is determined according to the flight dynamic information, and the warning radius is dynamically changed. Therefore, the flight range of the drone and the flight environment can be more accurately reflected. The alert radius can be changed as the flight dynamics information changes. For example, the flight speed and flight altitude of the drone are different, and the alert radius can be different in size, for example, when the drone is moving at a high speed and at a high flying height. The warning radius can be appropriately expanded, and the warning radius can be appropriately reduced when the drone is moving at a low speed or hovering and at a low flying height.

The size of the warning radius can represent the size of the flight range that needs to be guarded. The warning radius can indicate the safe flight range of the drone. The drone needs to maintain a certain safe distance from other flying objects during flight, avoiding other flying objects with the surrounding. Collision occurs. When the drone is in high-speed motion, it needs to maintain a large safety distance. Therefore, the warning radius is large, and when the drone is in low-speed motion or hovering, the safety distance can be small, so The warning radius can be appropriately reduced.

In an optional implementation manner, when determining that there is a security threat according to the flight environment information of the drone, the generating the warning information may include:

Step 121: When the current flight environment information does not meet the preset flight condition, generate a warning message.

The preset flight conditions described above may include: preset flight environment conditions and/or preset flight range conditions.

The preset flight environment condition may be a safe flight environment condition set in the server. When the flight environment information does not meet the preset flight environment condition, the security threat may be determined, and a warning letter is generated at this time. Specifically, the preset flight environment conditions may include: preset weather conditions, preset terrain conditions, or preset temperature, humidity, air pressure, and the like of the flight environment.

For example, the meteorological condition (hereinafter referred to as current weather condition) in the flight environment information of the current drone is 6 winds, and the preset meteorological condition is wind 5, and the wind of the current meteorological condition is greater than the wind of the preset meteorological condition. Determining that the meteorological condition is not met; or the terrain condition in the flight environment information of the current drone (hereinafter referred to as the current terrain condition) includes a certain number of obstacles, and the preset terrain condition is that there is no obstacle, and the determination is If the preset terrain condition is not met, or the temperature, humidity, or air pressure in the flight environment information of the current drone is greater than the preset temperature, humidity, or air pressure, it is determined that the preset flight environment condition is not met.

The preset flight range condition may be a safe flight range condition set in the server. When it is determined that the flight range of other flying objects is at least partially coincident according to the flight environment information, it is determined that the preset flight range condition is not met, and the security threat is determined accordingly. , generate a warning message.

Other flying objects here may be other drones or airplanes. When it is known that the flight range of other flying objects is at least partially coincident according to the flight environment information of the current drone, it is considered to be a security threat, that is, the current unmanned The flight range of the aircraft and the flight range of other flying objects have overlapping areas or coincidence points in the spatial range. The current flight range of the drone includes the flight range of other flying objects or the flight range of other flying objects covers the flight of the current drone. Range, with reference to 7a-Fig. 7e, the flight range 1 is the flight range of the current drone, and the flight range 2 is the flight range of other flying objects, as shown in Fig. 7a and Fig. 7b, there is a coincidence area between the flight range 1 and the flight range 2 Or coincident, as shown in Figure 7c, flight range 1 includes flight range 2, as shown in Figure 7d, flight range 2 covers flight range 1.

When there is no coincidence with the flight range of other flying objects according to the flight environment information of the current drone, it is considered that there is no safety threat, that is, the flight range of the current drone and the flight range of other flying objects are in space. There is no coincident area or coincidence point in the range. As shown in FIG. 7e, there is no coincident area or coincidence point between the flight range 1 and the flight range 2.

At present, the UAV is not included in the civil aviation domain management system for unified management. In the course of its flight, it may coincide with the flight range of the civil aviation aircraft. The Minghang aircraft usually has a warning range, which can be expressed as a circular area. The center of the circle is the position of the aircraft, and the radius is the warning radius. The warning radius is determined by the aircraft model. For example, a plane with a faster flight has a larger warning range. The flight range of the other flying objects mentioned above may be the warning range of the Ming Airlines aircraft.

In an optional implementation manner, as shown in FIG. 6, after acquiring the flight environment information of the drone according to the flight range described in the above step 10, the method further includes the following steps:

Step 110: Acquire map information covering at least a flight range;

Step 111: Generate graphical information of a flight range with the map information as a background.

In order to intuitively represent the flight range, in order to facilitate the server side background operation user or the operation of the user operating the drone, the flight range may be graphically represented on the interface of the server, the terminal or the drone, for example, the flight range It is based on the map covering the flight range. On the map, the circular range of the radius of the estimated flight radius or warning radius is the center of the drone position (including the pre-flight position or the in-flight position). When the human machine is stationary (for example, before take-off), the circular range is stationary on the map, and when the drone moves (for example, in flight), the circular range moves on the map.

Of course, the flight range can also be expressed in other visualized forms, which is not limited in this embodiment.

The present invention also provides a UAV aircraft monitoring method, which can be applied to a terminal or a drone. As shown in FIG. 8, the method includes the following steps:

Step 20: Obtain a flight range of the drone;

Step 21: Send the flight range of the drone to the server.

In an embodiment, sending the flight range of the drone to the server as described in step 21 above may include two situations:

In the first case, the drone's flight range is sent to the server before the drone takes off. Such In the case, the flight range is determined according to the position before takeoff, or the position before takeoff and the estimated flight radius, the flight range is the flight range before takeoff, and the flight range of the unmanned aerial vehicle described in step 20 can be passed through two Ways:

As shown in FIG. 9, one of the modes specifically includes the following steps:

Step 201: Obtain a position before the drone takes off;

Step 202: Determine a flight range, where the flight range includes a position before the take-off of the drone as a reference point, and covers a preset spatial range of the reference point.

As shown in FIG. 10, another manner specifically includes the following steps:

Step 203: Obtain a position before the take-off of the drone and an estimated flight radius.

Step 204: Determine a flight range of the drone, the flight range including a circular area with a radius of the estimated flight radius centered on the position before the take-off of the drone.

In the second case, the drone's flight range is sent to the server during drone flight. In this case, the flight range is calculated by the drone or the terminal according to the flight position and the warning radius and then sent to the server, and the flight range is the flight range in the flight of the drone, as shown in FIG. Obtain the flight range of the drone, including the following steps:

Step 205: Acquire a flight position and a warning radius in the flight of the drone, and the flight range includes a circular area with the flight position as the center and the warning radius as the radius.

The method for obtaining the alert radius may specifically include the following steps:

Step 206: Obtain flight dynamic information in the flight of the drone;

Step 207: Determine a warning radius according to the flight dynamic information.

In some examples, the magnitude of the alert radius varies according to changes in the flight dynamics of the drone. Specifically, the flight dynamics information includes flight speed, and the alert radius is determined by the following methods:

The first embodiment: the first flight speed of the drone corresponds to the first warning radius, and the drone's The second flight speed corresponds to the second warning radius, the first flight speed is greater than the second flight speed, and the first warning radius is greater than the second warning radius.

In this embodiment, the warning radius is determined according to the flight speed, and the flight speed and the warning radius have a mapping correspondence relationship, and the warning radius when the flight speed is faster is greater than the warning radius when the flight speed is slow.

The second embodiment: according to the comparison result of the flight dynamic information and the preset condition, the preset warning radius is increased or decreased to obtain the warning radius, and specifically includes:

When the flight speed is greater than the preset speed, the preset warning radius is increased as a warning radius, and when the flight speed is less than the preset speed, the preset warning radius is decreased as a preset value as the flight warning radius.

In this embodiment, the flight speed of the current drone is compared with the preset flight speed, and the warning radius in flight is determined according to the comparison result, and the preset flight speed can be set according to experience and the flight environment of the drone, and the above one Different in the embodiment, the alert radius and the flight speed of the present embodiment are not completely corresponding, and need not be changed according to the real-time change of the flight speed, and the calculation pressure for calculating the warning radius can be appropriately reduced, the calculation speed is improved, and the unmanned The real-time nature of aircraft flight monitoring.

It should be noted that the position before takeoff and the position in flight refer to the position of the drone in the current state, which may be the latitude and longitude coordinates of the position where the drone is located, and may include the latitude and longitude coordinates of the plurality of points, for example, none The latitude and longitude coordinates of the position of the center of the man-machine, the latitude and longitude coordinates of the position of the frame of the drone, and the latitude and longitude coordinates of the position of the arm of the drone.

This location can be obtained by processing data obtained from GPS, ultrasonic sensors, or vision sensors installed on the drone. Usually, the drone can obtain the data itself and send it to the server.

In some instances, the way in which the drone's flight range can be sent to the server during drone flight can be:

The drone's flight range is sent to the server every other same time in the drone flight or the drone's flight range is sent to the server at different times during the drone flight.

When the terminal or the drone is sent to the server, it can be sent periodically, and the flight range is uploaded to the server at a certain time interval, that is, the flight range is updated every other same time and sent to the server, and the server can be updated according to the update. The flight range obtains the corresponding flight environment information and timely discovers whether there is a security threat.

Another way is that the time interval that the terminal or the drone reports the flight range to the server dynamically changes according to the flight dynamic information, that is, the flight range is updated every different time period and sent to the server, for example, when the flight speed in the flight dynamic information When the speed is faster, the time interval can be appropriately reduced, and the acquired flight range can be reported to the server in a timely manner, so that the server can determine whether there is a security threat in time, and improve the flight safety of the drone in the high-speed flight state; When slow or hovering, the time interval can be appropriately extended to save the reported flight range to network communication overhead.

In another embodiment, as shown in FIG. 12, after the foregoing step 21, the following steps may be further included:

Step 22: Receive a warning message.

When the server determines that there is a security threat, the generated warning message may be sent to the drone or the terminal, and the warning message may be in various situations, for example, the warning message is a prompt message for reminding the presence of the security threat, or includes the current unmanned The message of the flight environment information of the machine, after receiving the warning message, the terminal or the drone may perform the corresponding flight control operation on the drone according to the warning message.

The warning information in the above embodiment may have different levels. In this case, as shown in FIG. 12, the following steps may also be included:

Step 23. Perform a flight control operation corresponding to the level of the warning information.

Different levels of warning information refer to different warning information generated according to the degree of security threat. For example, the first level warning information represents a slight security threat, and the second level warning information represents moderate security. Full threat, the third level represents a serious security threat. In some embodiments, the level of the warning information may be determined according to the size of the coincidence area of the flight range of the current drone and the flight range of the other flying objects. The larger the coincident area, the higher the level of the corresponding warning information, indicating the degree of security threat. The higher, the corresponding flight control operation is performed in accordance with the level of the warning information.

After receiving the warning message, the drone or terminal may remind the user who operates the drone that the flight control operation of the drone is performed by the user, or the drone automatically performs the corresponding flight control operation according to different levels of warning information. The flight control operations may include, but are not limited to, limiting altitude, limiting the farthest flight distance, forcibly landing, or limiting a particular function of the drone (eg, limiting the flight range of the drone, limiting the flight speed of the drone, or limiting no The functions of spraying pesticides, fire extinguishing, etc. performed by the human machine can enable the drone to eliminate the current security threat and improve flight safety by performing corresponding flight control operations. These flight control operations can be performed according to the level of the warning information, for example, If it is the first level warning message, it can limit the height of the drone or limit the farthest flight distance. If the second level warning message can limit the specific function of the drone, if it is the third level warning message, it can be unmanned. The machine forced landing.

In some embodiments, in order to facilitate the user to observe the flight range, the flight range may be displayed on an application interface of the terminal communicating with the drone or on the interface of the remote control of the drone, and the flight may be displayed in a graphical form. Range, for example, if the flight range is centered on the drone position (including the pre-flight position or in-flight position), and the circular range of the estimated flight radius or warning radius is the radius, the flight range can be displayed on the interface. And the map covering the flight range is used as the background, and the circle is represented by a circle on the map. When the drone is relatively stationary (for example, before taking off or hovering), the circle is stationary on the map, when the drone When moving (for example, in flight), the circle moves on the map.

In some embodiments, it may be that the warning message is received before the drone takes off. In this case, the following steps may also be included:

Step 24. Limit the drone to take off according to the warning message.

In this embodiment, when the terminal or the drone receives the warning message sent by the server before taking off, the drone can be restricted to take off according to the warning message, thereby minimizing the security threat.

Embodiments of the present invention further provide a machine readable storage medium storing machine executable instructions that, when invoked and executed by a processor, cause the processor to execute the drone flight described in any of the above embodiments. Control Method.

The embodiment of the invention further provides a UAV flight control device, comprising a processor and a memory, the memory storing the machine executable instructions, when being called and executed by the processor, the control device executable instruction causes the processor to execute the implementation The flight control method described. The control device can be a server.

As shown in FIG. 13, the above server may be a personal computer, a personal computer or a tablet computer, etc., and the server may include a processor and a machine readable storage medium, and the storage medium may be a non-volatile memory (such as a hard disk or a disk). The memory and the internal bus may also be included. The storage medium stores a plurality of instructions, and the processor may read the corresponding instructions into the memory and then run to execute the above-mentioned drone flight control method.

Embodiments of the present invention also provide a UAV flight monitoring apparatus including a processor and a memory, the memory storing a machine executable instruction that, when invoked and executed by a processor, the monitoring device executable instruction causes the processor to execute The UAV flight monitoring method described in any of the above embodiments. The control device can be a terminal or a drone.

The following describes the workflow of the above-mentioned embodiment when the server side and the terminal or the drone side interact with each other in combination with a specific application scenario. The application scenario is a pre-flight pre-flight scenario, and the drone or terminal can communicate with the server, and the communication network The present invention is not limited to the existing network capable of data transmission. Referring to FIG. 14 , when the drone is ready to take off, the workflow includes the following steps:

Step 204: Determine a flight range of the drone;

Step 21: Send the flight range of the drone to the server before the drone takes off;

Step 101: Receive a flight range of the drone that is sent before the drone takes off;

Step 11. Obtain flight environment information of the drone according to the flight range;

Step 12: Generate a warning message when it is determined that there is a security threat according to the flight environment information of the drone;

Step 22: Receive a warning message;

Step 24. Limit the drone to take off according to the warning message.

The following application scenario is a scenario in which a drone is in flight. The drone or terminal can communicate with the server. Referring to FIG. 15, the workflow includes the following steps:

Step 205: Obtain a flight position and a warning radius of the drone in flight;

Step 210: Send a flight position and a warning radius to the server during flight of the drone;

Step 103: Receive a flight position and a warning radius transmitted during flight of the drone, and the flight range includes a circular area having a flight center as a center and a warning radius as a radius;

Step 22: Receive a warning message;

The following application scenario is another scenario in the flight of a drone. The drone or terminal can communicate with the server. Referring to FIG. 16, the workflow includes the following steps:

Step 208: Obtain flight position and flight dynamic information of the drone in flight;

Step 209: Send flight position and flight dynamic information to the server during flight of the drone;

Step 105: using the flight position as a reference point, determining a flight range covering the reference point according to the flight dynamic information;

Step 22: Receive a warning message;

The method provided in the foregoing embodiment of the present application can be implemented by installing a software program on a server, a terminal, or a drone. The foregoing embodiment provides a system architecture using a central service mode, including a server as a server and a peer. The terminal or drone, that is, the relevant data or information generated by the drone, is sent to the server, the server performs calculation processing, and finally returns the warning information to the drone or terminal.

In another embodiment, the decentralized service mode may also be used to construct the system. At this time, the relevant data generated by each drone or terminal need not be sent to the server, and the data exchange between the drones may also be performed. The flight control method in the above embodiment is implemented.

The solution of this embodiment may store executable instructions in a machine readable storage medium of the server, and when executed and executed by a processor of the server, the processor executes the method of the present implementation, and thus may be implemented by a software program. It can detect the presence of security threats in the surrounding environment without installing sensor hardware on the drone. Therefore, not only can the cost of the drone be reduced, but also the installed sensor hardware can be avoided. Current hardware and software compatibility issues.

Implementing the solution of the embodiment in a software program manner has the following advantages: First, using an existing carrier network, no additional hardware is required;

Second, the software can be forward-compatible while keeping the software protocol unchanged. In the case of an open software agreement, products from different vendors can be seamlessly accessed;

Third, the software program is easier to upgrade and maintain than the hardware. When the software program finds a problem or has a new version, it only needs to be upgraded online in a place where it can be connected. This process requires no professional intervention. Professionals can do it themselves;

Fourth, due to the limitations of the installation of sensor hardware and the modular design features of the current various hardware of the drone, the newly added sensor hardware is easily removed or damaged, and the software program and the drone control system can be highly integrated. It is difficult for ordinary users to perform targeted damage;

Fifth, it is more flexible through software programs. For example, when dynamically calculating the alert radius, the corresponding algorithm can be adjusted through the server.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalents, improvements, etc., which are made within the spirit and principles of the present invention, should be included in the present invention. Within the scope of protection.

Claims

A UAV flight control method is applied to a server, wherein the method includes:

Obtain the flight range of the drone;

Obtaining flight environment information of the drone according to the flight range;

When it is determined that there is a security threat according to the flight environment information of the drone, a warning message is generated.
The method of claim 1 wherein said obtaining a flight range of the drone comprises:

Receiving a flight range of the drone transmitted before the drone takes off.
The method of claim 2 wherein said range of flight comprises:

Taking a position before the take-off of the drone as a reference point, covering a preset spatial range of the reference point.
The method of claim 1 wherein said obtaining a flight range of the drone comprises:

Receiving a flight range of the drone transmitted during the flight of the drone.
The method according to claim 4, wherein said acquiring a flight range of the drone comprises:

Receiving a flight position and a warning radius transmitted during flight of the drone, the flight range including a circular area centered on the flight position, the warning radius being a radius.
The method according to claim 4, wherein said acquiring a flight range of the drone comprises:

Receiving flight position and flight dynamic information transmitted during flight of the drone;

Taking the flight position as a reference point, determining a flight range covering the reference point according to the flight dynamic information.
The method according to claim 6, wherein the determining, by using the flight position as a reference point, the flight range covering the reference point according to the flight dynamic information comprises:

Determining a warning radius according to the flight dynamic information;

Determining a flight range of the drone, the flight range including centering on the flight position, A circular area having a radius of the warning radius.
The method of claim 7 wherein the magnitude of the alert radius changes in response to changes in flight dynamics information of the drone.
Method according to any of claims 1-8, characterized in that

The flight environment information includes at least one of the following: temperature, humidity, air pressure, terrain conditions, meteorological conditions of the flight environment, whether the flight range of the drone is at least partially coincident with the flight range of other flying objects.
The method according to any one of claims 1 to 9, wherein the generating the warning information when the security threat is determined according to the flight environment information of the drone includes:

A warning message is generated when the flight environment information does not meet the preset flight conditions.
The method according to claim 10, wherein the predetermined flight condition specifically comprises:

Preset flight conditions and/or preset flight range conditions.
The method according to claim 10, wherein the generating the warning information when determining that the flight condition is not met according to the flight environment information comprises:

Generating warning information when the flight environment information does not meet a preset flight environment condition;

Or when it is judged that there is a coincidence with the flight range of other flying objects based on the flight environment information, a warning message is generated.
The method according to any one of claims 1 to 12, further comprising: after acquiring the flight environment information of the drone according to the flight range, further comprising:

Obtaining map information covering at least the flight range;

Graphical information of the flight range with the map information as a background is generated.
The method according to any one of claims 7 or 8, wherein the flight dynamics information comprises: flight altitude, flight speed, flight angle and/or flight attitude.
A UAV flight monitoring method, characterized in that

Obtain the flight range of the drone;

The flight range of the drone is sent to the server.
The method according to claim 15, wherein the transmitting the flight range of the drone to the server comprises:

The flight range of the drone is transmitted to the server before the drone takes off.
The method according to claim 16, wherein the acquiring the flight range of the drone comprises:

Obtain the location of the drone before take-off;

Determining a flight range of the drone, the flight range including a pre-flight position of the drone as a reference point, covering a preset spatial range of the reference point.
The method according to claim 16, wherein the acquiring the flight range of the drone comprises:

Obtaining a position before the take-off of the drone and an estimated flight radius, the flight range including a circular space range formed by using the position of the unmanned aerial vehicle as a center and taking the estimated flight radius as a radius.
The method according to claim 15, wherein the transmitting the flight range of the drone to the server comprises:

The flight range of the drone is transmitted to the server during flight of the drone.
The method according to claim 19, wherein the acquiring the flight range of the drone comprises:

Obtaining a flight position and a warning radius of the drone in flight;

Determining the flight range of the drone, the flight range including a circular area centered at the flight position with a radius of the warning radius.
The method according to claim 20, wherein the acquiring the alert radius of the drone in flight comprises:

Obtaining flight dynamic information of the drone in flight;

A warning radius is determined based on the flight dynamics information.
The method of claim 21 wherein said alert radius is based on a magnitude The change in flight dynamics information of the drone changes.
The method of claim 22 wherein the flight dynamics information comprises a flight speed;

The magnitude of the warning radius changes according to the change of the flight dynamic information of the drone, and specifically includes:

The first flight speed of the drone corresponds to a first warning radius, the second flight speed of the drone corresponds to a second warning radius, the first flight speed is greater than the second flight speed, and the first A warning radius is greater than the second warning radius.
A method according to claim 21 or 22, wherein

The determining the warning radius according to the flight dynamic information specifically includes:

And according to the comparison result of the flight dynamic information and the preset condition, the preset warning radius is increased or decreased to obtain the warning radius.
The method of claim 24 wherein said flight dynamics information comprises a flight speed;

And the step of increasing or decreasing the preset warning radius according to the comparison result of the flight dynamic information and the preset condition to obtain the warning radius, specifically including:

When the flying speed is greater than the preset speed, the preset warning radius is increased as a warning radius, and when the flying speed is less than the preset speed, the preset warning radius is decreased by a preset value. As a warning radius.
The method according to claim 19, wherein the transmitting the flight range of the drone to the server during the flight of the drone comprises:

The flight range of the drone is transmitted to the server every other same time in the flight of the drone.
The method according to claim 21, wherein the transmitting the flight range of the drone to the server during flight of the drone includes:

The flight range of the drone is transmitted to the server at different times during the flight of the drone.
The method of claim 27, wherein the flight dynamic information is The state determines the duration.
The method according to any one of claims 15 to 28, further comprising: after transmitting the flight range of the drone to the server,

Receive a warning message.
The method according to claim 29, wherein said warning information has different levels; said method further comprising:

A flight control operation corresponding to the level of the warning information is performed.
The method of claim 30 wherein said flight control operation comprises at least one of the following:

Limit height

Limit the farthest flight distance;

Forced landing

Limit the specific functions of the drone.
A method according to any one of claims 16-18, wherein

Receiving the warning information includes receiving warning information before the drone takes off;

The method further includes:

The drone is restricted from taking off according to the warning message.
A machine-readable storage medium, characterized in that the machine-executable instructions, when invoked and executed by a processor, cause the processor to perform the execution of any of claims 1-14 Methods.
A UAV flight control device includes a processor and a memory, wherein the memory stores machine executable instructions for executing the claims 1-14 when invoked and executed by a processor A flight control method as described.
The apparatus of claim 34 wherein said apparatus is a server.
A UAV flight monitoring device includes a processor and a memory, wherein the memory stores machine executable instructions that are used by the processor when called and executed by the processor The flight monitoring method of any of claims 15-32.
The device of claim 36 wherein said device is a terminal or a drone.