A method for controlling a drone and related devices

Abstract

The embodiment of the present application provides a kind of unmanned plane control method, comprising: the size information of unmanned plane and the size information of each entrance and exit of hanging article;Based on the size information of unmanned plane and the size information of hanging article, the target projection area size information of unmanned plane and hanging article is determined;Based on the target projection area size information of unmanned plane and hanging article and the size information of each entrance and exit, the entrance information of unmanned plane is determined.In this way, by projecting unmanned plane and hanging article to the plane where the entrance and exit is located, comparing the size information of the projection area of unmanned plane and hanging article with the size information of the entrance and exit, the appropriate entrance and exit of unmanned plane is determined, which can avoid collision of unmanned plane due to inappropriate size of entrance and exit, and improve the safety of unmanned plane to take and send article.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle control method and related equipment. BACKGROUND

[0002] With the increasing maturity of unmanned aerial vehicle technology, the functions of unmanned aerial vehicles are gradually becoming comprehensive, and the application scenarios are becoming more and more rich. The use of unmanned aerial vehicles to take and deliver goods is also becoming more and more common. However, in the case of unmanned aerial vehicles carrying goods, the passability of the unmanned aerial vehicles is more or less affected by the goods. This effect is related to the size information of the goods, and also related to the swinging of the unmanned aerial vehicles during flight due to the goods. Especially when the unmanned aerial vehicles carrying goods pass through the entrance, the unmanned aerial vehicles will swing to a certain amplitude during flight due to the goods, which may cause the unmanned aerial vehicles that can pass through the entrance smoothly to collide with the edge of the entrance in the case of carrying goods, thereby causing the unmanned aerial vehicles to explode and increasing the safety risk of the unmanned aerial vehicles. SUMMARY

[0003] The present application provides an unmanned aerial vehicle control method and related equipment to solve the problem that the unmanned aerial vehicles cannot select a suitable entrance in the case of carrying goods, resulting in collision between the unmanned aerial vehicles and the goods and the entrance, thereby causing the unmanned aerial vehicles to explode and causing danger.

[0004] In a first aspect, the present application provides an unmanned aerial vehicle control method, comprising:

[0005] Obtaining the size information of the unmanned aerial vehicles and the goods and the size information of each entrance;

[0006] Determining the target projection area size information of the unmanned aerial vehicles and the goods based on the size information of the unmanned aerial vehicles and the goods;

[0007] Determining the entrance information of the unmanned aerial vehicles based on the target projection area size information of the unmanned aerial vehicles and the goods and the size information of each entrance.

[0008] Optionally, the method further comprises:

[0009] In the case that the unmanned aerial vehicles need to enter the entrance vertically, determining the target projection of the unmanned aerial vehicles and the goods as the projection of the unmanned aerial vehicles and the goods on the horizontal plane;

[0010] In the case that the unmanned aerial vehicles need to enter the entrance horizontally, determining the target projection of the unmanned aerial vehicles and the goods as the projection of the unmanned aerial vehicles and the goods on the vertical plane.

[0011] Optionally, after the step of determining the target projection area size information of the UAV and the carried object based on the size information of the UAV and the carried object, the method further comprises:

[0012] determining redundancy information of the size information of the UAV and the carried object based on the state information of the UAV and the carried object;

[0013] determining the expected projection size information of the UAV and the carried object based on the target projection area size information of the UAV and the carried object and the redundancy information of the size information of the UAV and the carried object.

[0014] Optionally, the state information of the UAV and the carried object comprises offset angle information, offset direction information, speed information and distance information from the entrance and exit.

[0015] Optionally, the step of determining the redundancy information of the size information of the UAV and the carried object based on the state information of the UAV and the carried object comprises:

[0016] acquiring the offset angle information and the offset direction information of the UAV and the carried object;

[0017] in a case where the offset direction of the UAV and the carried object is perpendicular to the plane where the entrance and exit is located, determining the redundancy information of the size information of the UAV and the carried object as first redundancy information, wherein the first redundancy information is redundancy information determined based on a preset redundancy ratio;

[0018] in a case where the offset direction of the UAV and the carried object is not perpendicular to the plane where the entrance and exit is located, determining the redundancy information of the size information of the UAV and the carried object as second redundancy information, wherein the second redundancy information is redundancy information determined based on the offset direction and the offset angle of the UAV and the carried object.

[0019] Optionally, the step of determining the redundancy information of the size information of the UAV and the carried object based on the state information of the UAV and the carried object further comprises:

[0020] acquiring the speed information of the UAV and the carried object;

[0021] acquiring state information of the entrance and exit, wherein the state information of the entrance and exit comprises speed information of the entrance and exit;

[0022] in a case where the speed of the UAV and the carried object is less than or equal to the speed of the entrance and exit, determining the redundancy information of the size information of the UAV and the carried object as third redundancy information, wherein the third redundancy information is redundancy information determined based on the speed information of the UAV and the carried object.

[0023] In a case where the speed of the UAV and the carried object is greater than the speed of the entrance and exit, the redundancy information of the size information of the UAV and the carried object is determined as fourth redundancy information, wherein the fourth redundancy information is redundancy information determined based on the speed information of the entrance and exit.

[0024] Optionally, the redundancy information of the size information of the UAV and the carried object is determined based on the state information of the UAV and the carried object, and the determining comprises:

[0025] acquiring distance information of the UAV and the carried object from the entrance and exit;

[0026] In a case where the distance of the UAV and the carried object from the entrance and exit is greater than a preset distance, the redundancy information of the size information of the UAV and the carried object is determined as first redundancy information.

[0027] In a case where the distance of the UAV and the carried object from the entrance and exit is less than or equal to the preset distance, the redundancy information of the size information of the UAV and the carried object is determined as fifth redundancy information, wherein the fifth redundancy information is redundancy information determined based on the offset angle information, the offset direction information and the speed information of the UAV and the carried object.

[0028] In a second aspect, the present application further provides a UAV control device, characterized in that comprising:

[0029] a collection module configured to acquire size information of a UAV and a carried object and size information of each entrance and exit;

[0030] a first determination module configured to determine target projection area size information of the UAV and the carried object based on the size information of the UAV and the carried object;

[0031] a second determination module configured to determine entrance and exit information of the UAV based on the target projection area size information of the UAV and the carried object and the size information of each entrance and exit.

[0032] In a third aspect, the present application further provides an electronic device comprising a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory to implement the steps of the UAV control method according to any one of the first aspect.

[0033] In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the UAV control method according to any one of the first aspect.

[0034] According to the technical solution, the unmanned aerial vehicle control method provided by the embodiment of the application comprises the following steps: obtaining size information of the unmanned aerial vehicle and the mounted article and size information of each entrance; determining target projection area size information of the unmanned aerial vehicle and the mounted article based on the size information of the unmanned aerial vehicle and the mounted article; and determining entrance information of the unmanned aerial vehicle based on the target projection area size information of the unmanned aerial vehicle and the mounted article and the size information of each entrance. At present, the unmanned aerial vehicle cannot select a suitable entrance when mounting an article, which may cause the unmanned aerial vehicle and the mounted article to collide with the entrance, thereby causing the unmanned aerial vehicle to explode and a dangerous situation may occur. According to the embodiment of the application, the unmanned aerial vehicle and the mounted article are projected to the plane where the entrance is located, the size information of the projection area of the unmanned aerial vehicle and the mounted article is compared with the size information of the entrance, and a suitable entrance of the unmanned aerial vehicle is determined, so that the unmanned aerial vehicle can be prevented from colliding due to the unsuitable size of the entrance, and the safety of the unmanned aerial vehicle in taking and delivering the article is improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly explain the technical solutions of the application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor.

[0036] Figure 1 A schematic flow chart of the unmanned aerial vehicle control method provided by the embodiment of the application is shown in the figure.

[0037] Figure 2 A schematic structural diagram of the unmanned aerial vehicle control device provided by the embodiment of the application is shown in the figure.

[0038] Figure 3 An embodiment schematic diagram of the electronic device provided by the embodiment of the application is shown in the figure.

[0039] Figure 4 An embodiment schematic diagram of the computer readable storage medium provided by the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0040] The embodiments will be described in detail below, and examples are shown in the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following embodiments do not represent all embodiments consistent with the application. They are only examples of systems and methods consistent with some aspects of the application as described in detail in the claims. In several embodiments provided by the embodiments of the application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described below are only exemplary.

[0041] The application provides a UAV control method, as shown in the method, comprising the following steps. Figure 1

[0042] In step S110, the size information of the UAV and the mounted article and the size information of each entrance are acquired.

[0043] For example, the image acquisition device can be installed at each entrance, and the UAV and the mounted article can be acquired as a whole, and the image acquisition device of the UAV can be used to acquire the size information of the entrance, wherein the size information comprises length information and width information.

[0044] In step S120, the target projection area size information of the UAV and the mounted article is determined based on the size information of the UAV and the mounted article.

[0045] For example, the target projection area size information of the UAV and the mounted article can be determined by projecting the UAV and the mounted article in the horizontal direction and the vertical direction.

[0046] In step S130, the entrance information of the UAV is determined based on the target projection area size information of the UAV and the mounted article and the size information of each entrance.

[0047] For example, when the target projection area size information of the UAV and the mounted article is less than or equal to the size information of the entrance, it can be determined that the UAV can pass through the entrance, and when the target projection area size information of the UAV and the mounted article is greater than the size information of the entrance, it can be determined that the UAV cannot pass through the entrance.

[0048] According to some embodiments, the target projection area size information of the UAV and the mounted article is determined based on the size information of the UAV and the mounted article, comprising:

[0049] When the UAV needs to enter the entrance vertically, the target projection of the UAV and the mounted article is determined as the projection of the UAV and the mounted article on the horizontal plane.

[0050] When the UAV needs to enter the entrance horizontally, the target projection of the UAV and the mounted article is determined as the projection of the UAV and the mounted article on the vertical plane.

[0051] The projection plane is determined according to the direction of the UAV entering the entrance, which can prevent the occurrence of misjudgment caused by simultaneously comparing the projection plane size information of the vertical direction and the horizontal direction with the size information of the entrance, and improve the passing efficiency.

[0052] ​According to some embodiments, after the step of determining the target projection area size information of the UAV and the carried object based on the size information of the UAV and the carried object, the method further comprises:

[0053] determining the redundancy information of the size information of the UAV and the carried object based on the state information of the UAV and the carried object;

[0054] determining the expected projection size information of the UAV and the carried object based on the target projection area size information of the UAV and the carried object and the redundancy information of the size information of the UAV and the carried object.

[0055] For example, the state information of the UAV and the carried object can be dynamically captured by installing an image acquisition device at the entrance / exit, and the redundancy information of the size information of the UAV and the carried object can be determined based on the state information. The redundancy information of the size information of the UAV and the carried object and the target projection area size information of the UAV and the carried object can be summed to determine the expected projection size information of the UAV and the carried object.

[0056] By redundantly determining the size information of the UAV and the carried object, a certain swing space can be reserved for the UAV and the carried object, the probability of collision when passing through the entrance / exit can be reduced, and the safety of passing through can be improved.

[0057] According to some embodiments, the state information of the UAV and the carried object comprises offset angle information, offset direction information, speed information, and distance information from the entrance / exit.

[0058] For example, the distance between the UAV and the entrance / exit can be acquired by installing an image acquisition device at the entrance / exit, a target distance can be preset, and image information of the UAV and the carried object can be periodically acquired when the distance between the UAV and the entrance / exit is less than the target distance. The offset angle information of the UAV and the carried object can be the maximum offset angle in the image information, the offset direction information can be the offset direction corresponding to all offset conditions in the image information, and the speed information can be the flight speed received from the UAV.

[0059] By acquiring the state information, the redundancy value can be more accurately determined based on the information, a certain swing space can be reserved for the UAV and the carried object, the probability of collision when passing through the entrance / exit can be reduced, and the safety of passing through can be improved.

[0060] According to some embodiments, determining the redundancy information of the size information of the UAV and the carried object based on the state information of the UAV and the carried object comprises:

[0061] Obtaining the offset angle information and the offset direction information of the unmanned aerial vehicle and the mounted article;

[0062] In the case that the offset direction of the unmanned aerial vehicle and the mounted article is perpendicular to the plane where the entrance and exit are located, the redundancy information of the size information of the unmanned aerial vehicle and the mounted article is determined as first redundancy information, wherein the first redundancy information is redundancy information determined based on a preset redundancy ratio;

[0063] In the case that the offset direction of the unmanned aerial vehicle and the mounted article is not perpendicular to the plane where the entrance and exit are located, the redundancy information of the size information of the unmanned aerial vehicle and the mounted article is determined as second redundancy information, wherein the second redundancy information is redundancy information determined based on the offset direction and the offset angle of the unmanned aerial vehicle and the mounted article.

[0064] For example, in the case that the unmanned aerial vehicle and the mounted article exist offset and the offset direction is perpendicular to the plane where the entrance and exit are located, the redundancy information can be determined by a preset redundancy ratio, for example, the redundancy ratio corresponding to the length of the unmanned aerial vehicle and the mounted article is 5%, and the redundancy ratio corresponding to the width is 20%, and in the case that the unmanned aerial vehicle and the mounted article exist offset and the offset direction is not perpendicular to the plane where the entrance and exit are located, the redundancy information can be determined according to the offset direction and the offset angle of the unmanned aerial vehicle and the mounted article, for example, in the case that the offset direction of the unmanned aerial vehicle and the mounted article is 30° to the plane where the entrance and exit are located, and the offset angle is 60°, the redundancy ratio corresponding to the length of the unmanned aerial vehicle and the mounted article is the preset redundancy ratio, i.e. 5%, and the redundancy ratio corresponding to the width can be cos30°×sin60°, i.e. 75%.

[0065] The redundancy information of the size information of the unmanned aerial vehicle and the mounted article is determined according to the offset angle information and the offset direction information of the unmanned aerial vehicle and the mounted article, which can correct the size information of the unmanned aerial vehicle and the mounted article in combination with the actual swing state of the unmanned aerial vehicle and the mounted article, reserve a certain swing space, and better prevent the unmanned aerial vehicle from colliding with the entrance and exit.

[0066] According to some embodiments, the redundancy information of the size information of the unmanned aerial vehicle and the mounted article is determined based on the state information of the unmanned aerial vehicle and the mounted article, further comprising:

[0067] Obtaining the speed information of the unmanned aerial vehicle and the mounted article;

[0068] Obtaining the state information of the entrance and exit, wherein the state information of the entrance and exit includes the speed information of the entrance and exit;

[0069] In the case that the speed of the UAV and the carried object is less than or equal to the speed of the entrance and exit, the redundancy information of the size information of the UAV and the carried object is determined as third redundancy information, wherein the third redundancy information is redundancy information determined based on the speed information of the UAV and the carried object.

[0070] In the case that the speed of the UAV and the carried object is greater than the speed of the entrance and exit, the redundancy information of the size information of the UAV and the carried object is determined as fourth redundancy information, wherein the fourth redundancy information is redundancy information determined based on the speed information of the entrance and exit.

[0071] For example, the redundancy information can be determined based on the speed information of the UAV and the carried object or the entrance and exit. For example, the redundancy ratio corresponding to the length of the UAV and the carried object is the speed of the UAV and the carried object or the entrance and exit multiplied by a speed influence coefficient α, wherein the speed influence coefficient α is positively correlated with the speed, that is, the greater the speed, the greater the α, and vice versa.

[0072] In the case that the entrance and exit is in a moving state, the flight speed of the UAV and the carried object entering the entrance and exit needs to be adjusted according to the speed information of the entrance and exit. In the case that the speed of the UAV and the carried object is less than or equal to the speed of the entrance and exit, the UAV needs to be accelerated, and therefore, the redundancy information determined based on the speed information of the UAV and the carried object is more accurate. In the case that the speed of the UAV and the carried object is greater than the speed of the entrance and exit, the UAV needs to be decelerated to the same speed as the entrance and exit, and therefore, the redundancy information determined based on the speed information of the entrance and exit is more accurate, which can improve the safety of the UAV taking and delivering the object through the entrance and exit.

[0073] According to some embodiments, the redundancy information of the size information of the UAV and the carried object determined based on the state information of the UAV and the carried object further includes:

[0074] obtaining distance information of the UAV and the carried object from the entrance and exit;

[0075] In the case that the distance of the UAV and the carried object from the entrance and exit is greater than a preset distance, the redundancy information of the size information of the UAV and the carried object is determined as first redundancy information;

[0076] In the case that the distance of the UAV and the carried object from the entrance and exit is less than or equal to the preset distance, the redundancy information of the size information of the UAV and the carried object is determined as fifth redundancy information, wherein the fifth redundancy information is redundancy information determined based on the offset angle information, the offset direction information and the speed information of the UAV and the carried object.

[0077] If the distance between the drone and its payload and the aforementioned entrance / exit is greater than a preset distance, it can be determined that there is no risk of collision between the drone and its payload and the entrance / exit, and redundancy can be implemented according to the preset redundancy ratio. If the distance between the drone and its payload and the aforementioned entrance / exit is less than or equal to the preset distance, it can be considered that there is a possibility of collision between the drone and its payload and the entrance / exit. Therefore, it is necessary to determine redundancy information based on offset angle information, offset direction information, and speed information to reduce the probability of collision and improve the safety of drone passage.

[0078] Please see Figure 2 , Figure 2 This is a schematic structural diagram of a drone control device provided in an embodiment of this application.

[0079] This application provides a drone control device 200, which includes:

[0080] The data acquisition module 201 is used to acquire the size information of the aforementioned drone and its mounted items, as well as the size information of each entrance and exit.

[0081] The first determining module 202 is used to determine the target projected area size information of the drone and the attached items based on the size information of the drone and the attached items.

[0082] The second determining module 203 is used to determine the entrance and exit information of the drone based on the target projection area size information of the drone and the attached items and the size information of each entrance and exit.

[0083] A drone control device 200 can achieve Figure 1 The various processes implemented in the method embodiments are not described in detail here to avoid repetition.

[0084] like Figure 3 As shown, Figure 3 This is a schematic structural diagram of an electronic device provided in an embodiment of this application.

[0085] This application provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it performs the following steps:

[0086] Obtain the size information of the drone and its mounted items, as well as the size information of each entrance and exit;

[0087] Based on the size information of the drone and its mounted items, the target projected area size information of the drone and its mounted items is determined.

[0088] Based on the target projected area size information of the aforementioned drone and its mounted items, and the size information of each entrance and exit, the entrance and exit information of the aforementioned drone is determined.

[0089] In practical implementation, when the processor 320 executes the computer program 311, it can achieve... Figure 1 Any of the corresponding implementation methods in the embodiments.

[0090] Since the electronic device described in this embodiment is a device used to implement a device in the embodiments of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiments of this application falls within the scope of protection of this application.

[0091] like Figure 4 As shown, Figure 4 This is a schematic structural diagram of a computer-readable storage medium provided in an embodiment of this application.

[0092] This embodiment provides a computer-readable storage medium 400 on which a computer program 411 is stored. When the computer program 411 is executed by a processor, it performs the following steps:

[0093] Obtain the size information of the drone and its mounted items, as well as the size information of each entrance and exit;

[0094] Based on the size information of the drone and its mounted items, the target projected area size information of the drone and its mounted items is determined.

[0095] Based on the target projected area size information of the aforementioned drone and its mounted items, and the size information of each entrance and exit, the entrance and exit information of the aforementioned drone is determined.

[0096] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0097] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0099] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0100] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks. Figure 1 one or more flow or blocks.

[0101] The embodiments of the present application also provide a computer program product, which comprises computer software instructions, when the computer software instructions are executed on a processing device, causing the processing device to perform the flow in the control method of the hybrid vehicle in the corresponding embodiments. ​ The flow in the control method of the hybrid vehicle in the corresponding embodiments.

[0102] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described above according to the embodiments of the present application are generated wholly or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0104] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0105] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0106] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0107] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application, essentially or in part, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods according to the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various other media that can store program codes.

[0108] In summary, the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The method comprises: acquiring size information of the UAV and the mounted article, and size information of each entrance; determining target projection area size information of the UAV and the mounted article based on the size information of the UAV and the mounted article; determining entrance information of the UAV based on the target projection area size information of the UAV and the mounted article and the size information of each entrance; wherein, after the step of determining the target projection area size information of the UAV and the mounted article based on the size information of the UAV and the mounted article, the method further comprises: determining redundancy information of the size information of the UAV and the mounted article based on state information of the UAV and the mounted article; determining expected projection size information of the UAV and the mounted article based on the target projection area size information of the UAV and the mounted article and the redundancy information of the size information of the UAV and the mounted article; wherein, the step of determining the redundancy information of the size information of the UAV and the mounted article based on the state information of the UAV and the mounted article comprises: acquiring offset angle information and offset direction information of the UAV and the mounted article; in the case that the offset direction of the UAV and the mounted article is perpendicular to the plane where the entrance is located, determining the redundancy information of the size information of the UAV and the mounted article as first redundancy information, wherein the first redundancy information is redundancy information determined based on a preset redundancy ratio; in the case that the offset direction of the UAV and the mounted article is not perpendicular to the plane where the entrance is located, determining the redundancy information of the size information of the UAV and the mounted article as second redundancy information, wherein the second redundancy information is redundancy information determined based on the offset direction and the offset angle of the UAV and the mounted article.

2. The method of claim 1, wherein, The step of determining the target projection area size information of the UAV and the mounted article based on the size information of the UAV and the mounted article comprises: in the case that the UAV needs to enter the entrance vertically, determining the target projection of the UAV and the mounted article as a projection of the UAV and the mounted article on a horizontal plane; in the case that the UAV needs to enter the entrance horizontally, determining the target projection of the UAV and the mounted article as a projection of the UAV and the mounted article on a vertical plane.

3. The method of claim 1, wherein, The state information of the UAV and the mounted article comprises offset angle information, offset direction information, speed information and distance information from the entrance of the UAV and the mounted article.

4. The method of claim 1, wherein, The step of determining the redundancy information of the size information of the UAV and the mounted article based on the state information of the UAV and the mounted article further comprises: acquiring speed information of the UAV and the mounted article; acquiring state information of the entrance, wherein the state information of the entrance comprises speed information of the entrance; in the case that the speed of the UAV and the mounted article is less than or equal to the speed of the entrance, determining the redundancy information of the size information of the UAV and the mounted article as third redundancy information, wherein the third redundancy information is redundancy information determined based on the speed information of the UAV and the mounted article; In a case where the speed of the UAV and the carried object is greater than the speed of the entrance and exit, the redundancy information of the size information of the UAV and the carried object is determined as fourth redundancy information, wherein the fourth redundancy information is redundancy information determined based on the speed information of the entrance and exit.

5. The method of claim 1, wherein, The redundancy information of the size information of the UAV and the carried object is determined based on the state information of the UAV and the carried object, and the redundancy information of the size information of the UAV and the carried object further includes: obtaining distance information of the UAV and the carried object from the entrance and exit; In a case where the distance of the UAV and the carried object from the entrance and exit is greater than a preset distance, the redundancy information of the size information of the UAV and the carried object is determined as first redundancy information; In a case where the distance of the UAV and the carried object from the entrance and exit is less than or equal to the preset distance, the redundancy information of the size information of the UAV and the carried object is determined as fifth redundancy information, wherein the fifth redundancy information is redundancy information determined based on the offset angle information, the offset direction information and the speed information of the UAV and the carried object.

6. A drone control device, characterized by, comprise: a collection module configured to obtain size information of a UAV and a carried object and size information of each entrance and exit; a first determination module configured to determine target projection area size information of the UAV and the carried object based on the size information of the UAV and the carried object; a second determination module configured to determine entrance and exit information of the UAV based on the target projection area size information of the UAV and the carried object and the size information of each entrance and exit, a third determination module configured to determine redundancy information of the size information of the UAV and the carried object based on state information of the UAV and the carried object; a fourth determination module configured to determine expected projection size information of the UAV and the carried object based on the target projection area size information of the UAV and the carried object and the redundancy information of the size information of the UAV and the carried object; an acquisition module configured to obtain offset angle information and offset direction information of the UAV and the carried object; a first redundancy module configured to, in a case where the offset direction of the UAV and the carried object is perpendicular to a plane on which the entrance and exit is located, determine the redundancy information of the size information of the UAV and the carried object as first redundancy information, wherein the first redundancy information is redundancy information determined based on a preset redundancy ratio; a second redundancy module configured to, in a case where the offset direction of the UAV and the carried object is not perpendicular to the plane on which the entrance and exit is located, determine the redundancy information of the size information of the UAV and the carried object as second redundancy information, wherein the second redundancy information is redundancy information determined based on the offset direction and the offset angle of the UAV and the carried object.

7. An electronic device comprising a memory, a processor, characterized in that, The processor is configured to implement the steps of the UAV control method in any one of claims 1 to 5 when executing the computer program stored in the memory.

8. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is configured to implement the steps of the UAV control method in any one of claims 1 to 5 when executed by the processor.

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