Method, apparatus and electronic device for adjusting UAV flight path

Abstract

The present application discloses a method, device, and electronic device for adjusting a drone's flight path. The method comprises: obtaining the drone's flight information, the flight information including at least the drone's takeoff time, flight duration, preset flight path, and flight speed; determining a first route corresponding to the drone based on the flight information, the first route being used to indicate a route where the drone has a potential collision risk during flight; detecting the drone's flight position on the first route, and determining a second route corresponding to the drone based on the flight position and a preset safety distance, the second route being used to indicate a route where the drone could collide during flight; detecting the drone's target flight position and target flight speed on the second route, and adjusting the drone's second route to a safe route based on the target flight position and target flight speed. The present application addresses the technical issues of insufficient detection capabilities and poor coordination capabilities in related technologies in drone route conflict scenarios.

Description

Technical Field

[0001] The present application relates to the field of drone application technology, and more specifically, to a method, device, and electronic equipment for adjusting a drone route. Background Art

[0002] With the rapid development and widespread application of drone technology, the use cases and demand for drones are rapidly increasing. However, this rapid development also presents numerous problems and challenges, such as the issue of flight path conflicts between multiple drones. These conflicts can lead to collisions between drones, resulting in serious safety incidents, inefficient drone flights, wasted resources, and increased time costs.

[0003] Related technologies for detecting and adjusting drone route conflicts typically rely on fixed route planning or simple obstacle avoidance strategies, failing to consider dynamic factors such as drone takeoff time and flight speed. This results in a lack of accuracy and timeliness when screening routes for potential collision risks. Furthermore, related technologies often only consider simple spatial distance factors when detecting the possibility of collision between drones, ignoring dynamic parameters such as the drone's motion state and speed. This results in significant errors in determining collision likelihood and an inability to accurately predict and avoid potential collision risks.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The present application provides a method, device and electronic equipment for adjusting the route of a drone, so as to at least solve the technical problems of insufficient detection capability and poor coordination capability in the relevant technologies in the scenario of drone route conflict.

[0006] According to one aspect of the present application, a method for adjusting a drone route is provided, comprising: obtaining flight information of the drone, wherein the flight information includes at least the take-off time, flight duration, preset flight route and flight speed of the drone; determining a first route corresponding to the drone based on the flight information, wherein the first route is used to indicate a route where the drone has a potential collision risk during flight; detecting the flight position of the drone on the first route, and determining a second route corresponding to the drone based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the drone may collide during flight; detecting a target flight position and a target flight speed of the drone on the second route, and adjusting the second route where the drone is located to a safe route based on the target flight position and the target flight speed.

[0007] Optionally, determining the first route corresponding to the UAV based on the flight information includes: determining preset flight routes for multiple UAVs, determining intersecting routes corresponding to the multiple UAVs based on the preset flight routes, wherein the intersecting routes are used to indicate routes where paths of each UAV intersect during flight; determining a collision result in the intersecting routes based on a preset safety distance; and determining the first route based on the take-off time and flight duration corresponding to each UAV when the collision result indicates that multiple UAVs collide in the intersecting routes.

[0008] Optionally, determining the first route based on the take-off time and flight duration corresponding to each UAV includes: determining the first take-off time and the first flight duration of the first UAV, and determining the second take-off time and the second flight duration of the second UAV, wherein the first UAV and the second UAV are any two UAVs; determining a first flight time period corresponding to the first UAV based on the first take-off time and the first flight duration, and determining a second flight time period corresponding to the second UAV based on the second take-off time and the second flight duration; when there is an intersection between the first flight time period and the second flight time period, determining the intersecting route as the first route.

[0009] Optionally, detecting the flight position of the UAV on the first route includes: determining an initial position of the UAV on the first route, wherein the initial position represents the spatial position of the UAV; determining an updated position of the UAV on the first route based on the initial position and the flight speed, and determining a first moment when the UAV reaches the updated position; and determining the flight position based on the updated position and the first moment.

[0010] Optionally, determining the second route corresponding to the UAV based on the flight position and the preset safety distance includes: determining the first flight position of the first UAV and the second flight position of the second UAV; determining the flight distance between the first flight position and the second flight position at the target time; and determining the first route as the second route when the flight distance is less than or equal to the preset safety distance.

[0011] Optionally, detecting the target flight position and target flight speed of the UAV on the second route includes: determining the relative position vector and relative velocity vector between the first flight position and the second flight position, and determining a preset relative position vector, a preset relative velocity vector, a position control gain, and a speed control gain corresponding to the first flight position and the second flight position; determining the target flight position based on the relative position vector, the preset relative position vector, and the position control gain; and determining the target flight speed based on the relative velocity vector, the preset relative velocity vector, and the speed control gain.

[0012] Optionally, before detecting the target flight position and target flight speed of the UAV on the second route, the method also includes: determining the flight factors corresponding to the UAV, wherein the flight factors include at least one of the following: the volume of the UAV, the flight altitude of the UAV, and the flight speed of the UAV; determining the upper limit and lower limit of the spatial coordinates corresponding to the flight position of the UAV based on the flight factors; determining the flight area corresponding to the UAV based on the upper limit and lower limit of the spatial coordinates, wherein each UAV corresponds to a flight area, and the flight area is used to represent a safe space area when the UAV is flying.

[0013] According to another aspect of the present application, a device for adjusting the route of a drone is also provided, including: an acquisition module for acquiring flight information of the drone, wherein the flight information includes at least the take-off time, flight duration, preset flight route and flight speed of the drone; a first determination module for determining a first route corresponding to the drone based on the flight information, wherein the first route is used to indicate a route where the drone has a potential collision risk during flight; a second determination module for detecting the flight position of the drone on the first route, and determining a second route corresponding to the drone based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the drone may collide during flight; an adjustment module for detecting the target flight position and target flight speed of the drone on the second route, and adjusting the second route of the drone to a safe route based on the target flight position and target flight speed.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the above-mentioned method for adjusting the drone route.

[0015] According to another aspect of the present application, a non-volatile storage medium is also provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned drone route adjustment method by running the computer program.

[0016] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, which, when executed by a processor, implement the above-mentioned method for adjusting the route of a drone.

[0017] In the present application, by obtaining the flight information of the UAV, wherein the flight information includes at least the take-off time, flight duration, preset flight route and flight speed of the UAV; determining the first route corresponding to the UAV based on the flight information, wherein the first route is used to indicate a route where the UAV has a potential collision risk during flight; detecting the flight position of the UAV on the first route, and determining the second route corresponding to the UAV based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the UAV collides during flight; detecting the target flight position and target flight speed of the UAV on the second route, and adjusting the second route of the UAV to a safe route based on the target flight position and the target flight speed, thereby achieving the purpose of optimizing the conflict route of the UAV to prevent the UAV from colliding during flight, thereby achieving the technical effect of improving the safety of UAV air traffic, and further solving the technical problems of insufficient detection capability and poor coordination capability in related technologies in UAV route conflict scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is a hardware structure diagram of a computer terminal for implementing a method for adjusting a drone route according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for adjusting a drone route according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a crossing route according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a safe flight area for a drone according to an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of communication between a ground station and a drone according to an embodiment of the present application;

[0024] Figure 6 This is a structural diagram of a drone route adjustment device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] In order to solve the problem of poor drone route detection and coordination capabilities in related technologies, the present invention provides a method for adjusting the drone route, which can be run on Figure 1 Among the computer terminals shown, the computer terminal will be described below.

[0028] The method for adjusting the drone route provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The following is a hardware block diagram of a computer terminal for implementing a method for adjusting the route of a drone. Figure 1 As shown, the computer terminal 10 may include one or more processors (illustrated as 102a, 102b, ..., 102n in the figure) (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions via a wired and / or wireless network connection. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those skilled in the art will understand that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1More or fewer components than shown, or with Figure 1 Different configurations shown.

[0029] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computer terminal 10. As discussed in the embodiments of the present application, the data processing circuitry functions as a processor control (e.g., the selection of a variable resistor terminal path connected to an interface).

[0030] Memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the drone route adjustment method in the embodiments of the present application. The processor executes the software programs and modules stored in memory 104 to perform various functional applications and data processing, thereby implementing the drone route adjustment method described above. Memory 104 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from the processor, which can be connected to computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0031] The transmission module 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 10. In one embodiment, the transmission module 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission module 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0032] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0033] It should be noted that, in some optional embodiments, the above Figure 1 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0034] In the above-mentioned operating environment, an embodiment of the present application provides an embodiment of a method for adjusting a drone route. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 This is a flow chart of a method for adjusting a drone route according to an embodiment of the present application. Figure 2 As shown, the method includes the following steps:

[0036] Step S202: Acquire the flight information of the UAV, wherein the flight information at least includes the take-off time, flight duration, preset flight route, and flight speed of the UAV.

[0037] In the above step S202, the ground (control) station can collect the flight information of all drones, including the take-off time, flight duration, preset flight route and flight speed of each drone. For example, the preset flight route of drone A is a and flight speed V a As shown below:

[0038]

[0039]

[0040] Where M represents each waypoint in the preset flight route, and v represents the flight speed of the drone between adjacent waypoints.

[0041] Step S204: determining a first route corresponding to the UAV based on the flight information, wherein the first route is used to indicate a route where the UAV has a potential collision risk during flight.

[0042] In the above step S204, the route where the drone has intersecting paths during flight can be determined based on the preset flight route of the drone, and then the route where the drone has overlapping flight time periods during flight can be determined based on the take-off time and flight duration of the drone, thereby determining the route where the drone has potential collision risks during flight, that is, the above-mentioned first route.

[0043] Step S206 , detecting the flight position of the UAV on the first route, and determining a second route corresponding to the UAV based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the UAV may collide during flight.

[0044] In the above step S206, based on the spatial position of the drone on the above first route, the time dimension of the drone during the current flight (specific time point) can be added to convert the three-dimensional spatial position of the drone into a four-dimensional spatial position (i.e., the above flight position), thereby determining the specific route where the drone collided during flight.

[0045] Step S208 , detecting the target flight position and target flight speed of the UAV on the second route, and adjusting the second route of the UAV to a safe route based on the target flight position and target flight speed.

[0046] In the above step S208, after the specific collision route (second route) is determined, an exclusive flight area can be allocated to each UAV to ensure the safe flight of the UAV. Then, according to the control command of the ground station, the cooperative controller is used to adjust the target flight position and target flight speed of the UAV on the second route, thereby converting the second route into a safe route where the UAV will not collide during flight, thereby achieving the final adjustment of the UAV conflict route.

[0047] Through steps S202 to S208, the conflicting routes of drones are optimized to prevent collisions during flight, thereby achieving the technical effect of improving the safety of drone air traffic and resolving the technical issues of insufficient detection and coordination capabilities in related technologies in drone route conflict scenarios. This is described in detail below.

[0048] In the above-mentioned step S204, the first route corresponding to the UAV is determined based on the flight information, including: determining the preset flight routes of multiple UAVs, determining the intersecting routes corresponding to the multiple UAVs based on the preset flight routes, wherein the intersecting routes are used to indicate routes where the paths of each UAV intersect during flight; determining the collision result in the intersecting routes based on the preset safety distance; and determining the first route based on the take-off time and flight duration corresponding to each UAV when the collision result indicates that the multiple UAVs have collided in the intersecting routes.

[0049] Furthermore, determining the first route based on the take-off time and flight duration corresponding to each UAV includes: determining a first take-off time and a first flight duration of the first UAV, and determining a second take-off time and a second flight duration of the second UAV, wherein the first UAV and the second UAV are any two UAVs; determining a first flight time period corresponding to the first UAV based on the first take-off time and the first flight duration, and determining a second flight time period corresponding to the second UAV based on the second take-off time and the second flight duration; when the first flight time period and the second flight time period have an intersection, determining the intersecting route as the first route.

[0050] In an embodiment of the present application, before the drone takes off, it is possible to identify and screen routes with potential collision risks, namely the first route mentioned above, so that corresponding preventive measures can be taken to ensure the safety of the drone's flight. The specific process can be as follows:

[0051] First, analyze and record the preset flight routes of all drones and identify any instances where paths intersect or overlap in the preset flight routes, i.e., the intersecting routes. For example, take drone A (i.e., the first drone) and drone B (i.e., the second drone) as an example. Figure 3 As shown in the figure, the area indicated by the exclamation mark is the area where the paths of UAV A and UAV B intersect or overlap during their flight.

[0052] Secondly, based on the preset safety distance s, the collision result is determined to evaluate the collision risk in the crossing route. Specifically, for drone A and drone B, points are randomly selected in their corresponding crossing routes. and point , if point and point The Euclidean distance between them is less than or equal to the preset safety distance s, that is , it indicates that there is a collision risk in the crossing route.

[0053] Finally, when the collision results indicate that there is a collision risk between multiple drones in the corresponding intersecting routes, the first routes corresponding to them can be determined by combining the takeoff time and flight duration of each drone. Specifically, let the takeoff time of drone A (i.e., the first takeoff time mentioned above) be T1, and the flight duration of drone A (i.e., the first flight duration mentioned above) be t1. Then, the first flight time period corresponding to drone A is ; Define the take-off time of drone B (i.e. the second take-off time mentioned above) as T2, and the flight duration of drone B (i.e. the second flight duration mentioned above) as t2, then the second flight time period corresponding to drone B is When the first flight time period of drone A and the second flight time period of drone B have no intersection, that is, , then it is considered that there is no conflict in the flight time of UAV A and UAV B, that is, there is no possibility of collision between the crossing routes of UAV A and UAV B; when the first flight time period of UAV A and the second flight time period of UAV B have an intersection, that is , it is considered that there is a conflict in the flight time of UAV A and UAV B, that is, there is a possibility of collision between the intersecting routes of UAV A and UAV B, and the intersecting route is determined as the above-mentioned first route, which is used to indicate that there is a potential collision risk between UAV A and UAV B during flight.

[0054] In the above-mentioned step S206, the flight position of the UAV on the first route is detected, including: determining the initial position of the UAV on the first route, wherein the initial position represents the spatial position of the UAV; determining the updated position of the UAV on the first route based on the initial position and the flight speed, and determining the first moment when the UAV reaches the updated position; and determining the flight position based on the updated position and the first moment.

[0055] Furthermore, determining the second route corresponding to the UAV based on the flight position and the preset safety distance includes: determining the first flight position of the first UAV and the second flight position of the second UAV; determining the flight distance between the first flight position and the second flight position at the target time; and determining the first route as the second route when the flight distance is less than or equal to the preset safety distance.

[0056] In the embodiment of the present application, the position of the drone on the first route can be tracked in real time to accurately determine the possibility of a collision. The specific process can be as follows:

[0057] First, record the initial spatial position of the drone on the first route (i.e. the initial position mentioned above). For example, define the initial position of the drone (any one) as (x, y, z), the flight speed as v, and divide the flight speed v into the lateral speed according to the coordinate system , longitudinal speed and vertical speed Since the UAV flies at a constant speed between adjacent waypoints, the speed decomposition formula of the flight speed v is as follows:

[0058]

[0059]

[0060]

[0061] Where, (X, Y, Z) represents the spatial coordinates in the first route, (X 1 , Y 1 , Z 1 ) indicates the first route and waypoint M a Adjacent waypoint M b The spatial coordinates of .

[0062] Secondly, based on the above initial position, velocity components and arbitrary flight time t0, calculate the spatial position (x', y', z') of the drone on the first route after flight time t0, which is the above updated position. The position update formula is as follows:

[0063]

[0064]

[0065]

[0066] Among them, (x, y, z) represents the initial position of the UAV on the first route, (x', y', z') represents the updated position of the UAV on the first route, and t0 represents the arbitrary flight time of the UAV on the first route.

[0067] Subsequently, by combining the updated position and the time point when the UAV reaches the updated position (i.e., the first moment mentioned above), the three-dimensional spatial position corresponding to the UAV is converted into a four-dimensional spatial position, and the flight position of the UAV on the first route can be obtained, such as (x, y, z, t), where t represents the first moment mentioned above.

[0068] Finally, by combining a specific time point (such as the first moment mentioned above) and the flight distance between the drones, the flight path where the drones collided during flight can be determined. Specifically, taking drone A and drone B as an example, the flight position of drone A is defined as (x a ,y a , z a , t a ), which is the first flight position mentioned above; the flight position of UAV B is defined as (x b ,y b , z b , t b ), which is the second flight position mentioned above; then, calculate the flight distance between drone A and drone B , and judge in When the flight distance X ab Relationship with the preset safety distance s, if there is , it means that there is a UAV collision phenomenon on the first route, and the first route is determined as the second route, which is used to indicate the route where the UAV collides during flight.

[0069] In the above-mentioned step S208, the target flight position and target flight speed of the UAV on the second flight route are detected, including: determining the relative position vector and the relative velocity vector between the first flight position and the second flight position, and determining the preset relative position vector, the preset relative velocity vector, the position control gain and the velocity control gain corresponding to the first flight position and the second flight position; determining the target flight position based on the relative position vector, the preset relative position vector and the position control gain; and determining the target flight speed based on the relative velocity vector, the preset relative velocity vector and the velocity control gain.

[0070] Optionally, before detecting the target flight position and target flight speed of the UAV on the second route, the method also includes: determining the flight factors corresponding to the UAV, wherein the flight factors include at least one of the following: the volume of the UAV, the flight altitude of the UAV, and the flight speed of the UAV; determining the upper limit and lower limit of the spatial coordinates corresponding to the flight position of the UAV based on the flight factors; determining the flight area corresponding to the UAV based on the upper limit and lower limit of the spatial coordinates, wherein each UAV corresponds to a flight area, and the flight area is used to represent a safe space area when the UAV is flying.

[0071] In this embodiment of the present application, after determining the specific collision route of the drones during flight (i.e., the second route described above), safe flight between drones and collision avoidance can be coordinated and ensured through airspace management, adjustment of the drones' flight positions and speeds, and enhanced communication between the drones and the ground station. Specific steps can be as follows:

[0072] Step 1: Airspace management.

[0073] According to the flight factors corresponding to the drone, the air space corresponding to the second route where the drone is located is divided into different areas, and each drone is assigned a dedicated flight area to ensure the safe and collision-free flight of each drone. The flight factors may include the drone's own attribute information (such as size), the drone's flight speed on the second route, and the altitude layer at which the drone is flying on the second route. Specifically, the upper limit coordinates of the drone's space (such as the flight factors) are determined based on the drone's flight factors. ) and the spatial lower limit coordinates (such as ),like Figure 4 As shown. Among them, the specific expressions of the upper and lower limit coordinates of the space are as follows:

[0074]

[0075]

[0076]

[0077]

[0078] Among them, (x, y, z, t) represents the flight position coordinates of the UAV when flying in the second route with the time dimension added (i.e., the flight position mentioned above); Indicates the upper limit coordinate of the space corresponding to the drone, Indicates the spatial lower limit coordinate corresponding to the drone.

[0079] Step 2: Adjust the flight position and flight speed of the UAV (i.e., determine the target flight position and target flight speed of the UAV in the second route).

[0080] Still taking drone A and drone B as an example, at time t1, the first flight position corresponding to drone A is defined as (x a ,y a , z a , t1), the second flight position corresponding to UAV B is defined as (x b ,y b , z b , t1), the flight speed of UAV A is defined as (v ax , v ay , v az ), the flight speed of UAV B is defined as (v bx , v by , v bz ), then the relative position vector of UAV A and UAV B is and the relative velocity vector They are as follows:

[0081]

[0082]

[0083] Then, the relative position vectors of UAV A and UAV B are controlled by the cooperative controller. and the relative velocity vector Make adjustments as follows:

[0084]

[0085]

[0086] Where, Represents the new relative position vector, i.e. the target flight position mentioned above; Represents the current relative position vector, represents the ideal relative position vector, i.e. the above-mentioned preset relative position vector; k p Indicates position control gain; represents the new relative velocity vector, i.e. the target relative velocity mentioned above; represents the current relative velocity vector, represents the ideal relative velocity vector, i.e. the above-mentioned preset relative velocity vector; k v Indicates the speed control gain.

[0087] Furthermore, in order to avoid collision, the ideal relative position vector is set (i.e. the preset relative position vector) is the direction vector of the safety distance s, and the ideal relative speed is set (i.e. the above-mentioned preset relative velocity vector) is 0, where the ideal relative position vector and velocity vector are as follows:

[0088]

[0089]

[0090] in, Represents the current relative position vector of the drone Model.

[0091] Step 3: Enhance drone communication and coordination.

[0092] The ground control station calculates the control command of each drone and transmits it to the drone at the specified time to ensure that the drone does not collide. The communication process between the ground control station and the drone is as follows: Figure 5 As shown (still taking drone A and drone B as an example). The communication protocol that needs to be met between the drone and the ground is as follows:

[0093]

[0094] Where B represents the communication bandwidth, which is used to estimate the transmission rate of control commands; T represents the update period of control commands, requiring the communication system to transmit enough data within T to update the control commands; Num represents the number of control commands.

[0095] In an embodiment of the present application, by combining the time characteristics to gradually screen the collision routes of the drone during flight, such as the first route with potential collision risks and the second route where collision occurs, not only the conflicts of the drones on the routes but also the conflicts of the drones in time are considered, thereby improving the detection efficiency of the drone route conflicts; and by adjusting the flight position and flight speed of the drone on the collision route, the collision risk of the drone during flight is reasonably avoided, thereby ensuring the safety and reliability of the drone during flight.

[0096] According to an embodiment of the present application, a device for adjusting the route of a drone is provided. It should be noted that the device for adjusting the route of a drone according to an embodiment of the present application can be used to execute the method for adjusting the route of a drone according to an embodiment of the present application. The following describes the device for adjusting the route of a drone according to an embodiment of the present application.

[0097] Figure 6 This is a structural diagram of a drone route adjustment device provided according to an embodiment of the present application. Figure 6 As shown, the device includes:

[0098] An acquisition module 60 is configured to acquire flight information of the UAV, wherein the flight information includes at least the take-off time, flight duration, preset flight route, and flight speed of the UAV;

[0099] A first determining module 62 is configured to determine a first route corresponding to the UAV based on the flight information, wherein the first route is used to indicate a route where the UAV has a potential collision risk during flight;

[0100] a second determining module 64 for detecting the flight position of the UAV on the first route, and determining a second route corresponding to the UAV based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the UAV may collide during flight;

[0101] The adjustment module 66 is used to detect the target flight position and target flight speed of the UAV on the second route, and adjust the second route of the UAV to a safe route according to the target flight position and target flight speed.

[0102] Through the acquisition module 60, the first determination module 62, the second determination module 64 and the adjustment module 66 in the above-mentioned drone route adjustment device, the purpose of optimizing the conflict routes of drones is achieved to prevent drones from colliding during flight, thereby achieving the technical effect of improving the safety of drone air traffic, and further solving the technical problems of insufficient detection ability and poor coordination ability in related technologies in drone route conflict scenarios.

[0103] In the drone route adjustment device provided in an embodiment of the present application, the first determination module is also used to determine the preset flight routes of multiple drones, and determine the corresponding intersection routes of the multiple drones based on the preset flight routes, wherein the intersection routes are used to indicate routes where each drone has intersecting paths during flight; determine the collision result in the intersection route based on a preset safety distance; when the collision result indicates that multiple drones have a collision in the intersection route, determine the first route based on the corresponding take-off time and flight duration of each drone.

[0104] In the drone route adjustment device provided in an embodiment of the present application, the first determination module is also used to determine the first take-off time and the first flight duration of the first drone, and to determine the second take-off time and the second flight duration of the second drone, wherein the first drone and the second drone are any two drones among the drones; the first flight time period corresponding to the first drone is determined based on the first take-off time and the first flight duration, and the second flight time period corresponding to the second drone is determined based on the second take-off time and the second flight duration; when there is an intersection between the first flight time period and the second flight time period, the intersecting route is determined as the first route.

[0105] In the drone route adjustment device provided in an embodiment of the present application, the second determination module is also used to determine the initial position of the drone on the first route, wherein the initial position represents the spatial position of the drone; determine the updated position of the drone on the first route based on the initial position and the flight speed, and determine the first moment when the drone reaches the updated position; and determine the flight position based on the updated position and the first moment.

[0106] In the drone route adjustment device provided in an embodiment of the present application, the second determination module is also used to determine the first flight position of the first drone and the second flight position of the second drone; determine the flight distance between the first flight position and the second flight position at the target time; and when the flight distance is less than or equal to the preset safety distance, determine the first route as the second route.

[0107] In the drone route adjustment device provided in an embodiment of the present application, the adjustment module is also used to determine the relative position vector and relative velocity vector between the first flight position and the second flight position, and to determine the preset relative position vector, preset relative velocity vector, position control gain and speed control gain corresponding to the first flight position and the second flight position; determine the target flight position based on the relative position vector, the preset relative position vector and the position control gain; and determine the target flight speed based on the relative velocity vector, the preset relative velocity vector and the speed control gain.

[0108] In the drone route adjustment device provided in an embodiment of the present application, the adjustment module is also used to determine the flight factors corresponding to the drone, wherein the flight factors include at least one of the following: the volume of the drone, the flight altitude of the drone, and the flight speed of the drone; based on the flight factors, the upper limit and lower limit of the spatial coordinates corresponding to the flight position of the drone are determined; based on the upper limit and lower limit of the spatial coordinates, the flight area corresponding to the drone is determined, wherein each drone corresponds to a flight area, and the flight area is used to represent the safe space area when the drone is flying.

[0109] An embodiment of the present application also provides an electronic device, including: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the above-mentioned method for adjusting the drone route.

[0110] It should be noted that the above electronic equipment is used to perform Figure 2 The method for adjusting the drone route shown in the figure, therefore the relevant explanations in the above-mentioned method for adjusting the drone route also apply to this electronic device and will not be repeated here.

[0111] An embodiment of the present application also provides a non-volatile storage medium, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned drone route adjustment method by running the computer program.

[0112] It should be noted that the above non-volatile storage medium is used to execute Figure 2 The method for adjusting the drone route is shown, so the relevant explanations in the above-mentioned method for adjusting the drone route are also applicable to the non-volatile storage medium and will not be repeated here.

[0113] An embodiment of the present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above-mentioned method for adjusting the drone route.

[0114] It should be noted that the above-mentioned computer program product is used to execute Figure 2 The method for adjusting the drone route shown in the figure, therefore the relevant explanations in the above-mentioned method for adjusting the drone route also apply to this computer program product and will not be repeated here.

[0115] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0116] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0118] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0119] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0120] If the integrated unit is implemented 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 this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0121] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for adjusting a drone route, characterized in that: include: Obtaining flight information of the drone, wherein the flight information includes at least the take-off time, flight duration, preset flight route, and flight speed of the drone; Determining a first route corresponding to the drone based on the flight information, wherein the first route is used to indicate a route of the drone that has a potential collision risk during flight, and the first route is determined before the drone takes off; Detecting the flight position of the UAV on the first route, and determining a second route corresponding to the UAV based on the flight position and a preset safety distance, wherein the second route is used to indicate a route where the UAV may collide during flight; detecting a target flight position and a target flight speed of the UAV on the second route, and adjusting the second route of the UAV to a safe route based on the target flight position and the target flight speed; Determining a first route corresponding to the UAV based on the flight information includes: determining preset flight routes for a plurality of UAVs, determining intersecting routes corresponding to the plurality of UAVs based on the preset flight routes, wherein the intersecting routes are used to indicate routes where paths of each UAV intersect during flight; determining a collision result in the intersecting routes based on the preset safety distance; and determining the first route based on the take-off time and the flight duration corresponding to each UAV when the collision result indicates that the plurality of UAVs have collided in the intersecting routes; Determining the first route based on the take-off time and the flight duration corresponding to each drone includes: determining a first take-off time and a first flight duration for a first drone, and determining a second take-off time and a second flight duration for a second drone, wherein the first drone and the second drone are any two of the drones; determining a first flight time period corresponding to the first drone based on the first take-off time and the first flight duration, and determining a second flight time period corresponding to the second drone based on the second take-off time and the second flight duration; and if the first flight time period and the second flight time period intersect, determining the intersecting route as the first route; Detecting a target flight position and a target flight speed of the UAV on the second route includes: determining a relative position vector and a relative velocity vector between a first flight position of the first UAV and a second flight position of the second UAV, and determining a preset relative position vector, a preset relative velocity vector, a position control gain, and a velocity control gain corresponding to the first flight position and the second flight position; determining the target flight position based on the relative position vector, the preset relative position vector, and the position control gain; and determining the target flight velocity based on the relative velocity vector, the preset relative velocity vector, and the velocity control gain; The method also includes: determining a flight area corresponding to the drone based on the spatial upper limit coordinates and spatial lower limit coordinates of the drone in the flight space corresponding to the second route, wherein each drone corresponds to a flight area, the spatial upper limit coordinates and the spatial lower limit coordinates are four-dimensional space coordinates that integrate the flight time of the drone, the spatial upper limit coordinates and the spatial lower limit coordinates are used to represent the boundary conditions of the drone when flying on the second route, and the flight area is used to represent a safe space area of the drone when flying on the second route.

2. The method according to claim 1, characterized in that Detecting the flight position of the UAV on the first route includes: Determining an initial position of the UAV on the first route, wherein the initial position represents a spatial position of the UAV; determining an updated position of the UAV on the first route based on the initial position and the flight speed, and determining a first moment when the UAV reaches the updated position; The flight position is determined according to the updated position and the first time.

3. The method according to claim 1, characterized in that Determining a second route corresponding to the drone based on the flight position and a preset safety distance includes: determining a first flight position of the first UAV and a second flight position of the second UAV; determining a flight distance between the first flight position and the second flight position at a target time; When the flight distance is less than or equal to the preset safety distance, the first route is determined to be the second route.

4. The method according to claim 1, wherein Before detecting the target flight position and target flight speed of the UAV on the second route, the method further includes: Determining a flight factor corresponding to the drone, wherein the flight factor includes at least one of the following: a size of the drone, a flight altitude of the drone, and a flight speed of the drone; The upper limit and the lower limit of the spatial coordinate corresponding to the flight position of the UAV are determined according to the flight factors.

5. A device for adjusting the route of a drone, characterized in that: include: An acquisition module is used to acquire flight information of the UAV, wherein the flight information includes at least the take-off time, flight duration, preset flight route and flight speed of the UAV; a first determining module, configured to determine a first route corresponding to the UAV based on the flight information, wherein the first route indicates a route where the UAV has a potential collision risk during flight, and the first route is determined before the UAV takes off; determining the first route corresponding to the UAV based on the flight information includes: determining preset flight routes for multiple UAVs, and determining intersecting routes corresponding to the multiple UAVs based on the preset flight routes, wherein the intersecting routes indicate routes where paths of each UAV intersect during flight; determining a collision result in the intersecting routes based on a preset safety distance; and if the collision result indicates that the multiple UAVs have collided in the intersecting routes, determining the first route based on the takeoff time and flight duration corresponding to each UAV; determining the first route based on the takeoff time and flight duration corresponding to each UAV includes: determining a first takeoff time and a first flight duration for a first UAV, and determining a second takeoff time and a second flight duration for a second UAV, wherein the first UAV and the second UAV are any two of the UAVs; determining a first flight time period corresponding to the first UAV based on the first takeoff time and the first flight duration, and determining a second flight time period corresponding to the second UAV based on the second takeoff time and the second flight duration; and if the first flight time period and the second flight time period intersect, determining the intersecting route as the first route; a second determining module, configured to detect a flight position of the UAV on the first route, and determine a second route corresponding to the UAV based on the flight position and the preset safety distance, wherein the second route is used to indicate a route where the UAV may collide during flight; an adjustment module, configured to detect a target flight position and a target flight speed of the UAV on the second route, and adjust the second route of the UAV to a safe route based on the target flight position and the target flight speed; detecting the target flight position and the target flight speed of the UAV on the second route, including: determining a relative position vector and a relative velocity vector between a first flight position of the first UAV and a second flight position of the second UAV, and determining a preset relative position vector, a preset relative velocity vector, a position control gain, and a velocity control gain corresponding to the first flight position and the second flight position; determining the target flight position based on the relative position vector, the preset relative position vector, and the position control gain; and determining the target flight velocity based on the relative velocity vector, the preset relative velocity vector, and the velocity control gain; The adjustment module is also used to determine the flight area corresponding to the drone based on the spatial upper limit coordinates and spatial lower limit coordinates of the drone in the flight space corresponding to the second route, wherein each drone corresponds to a flight area, the spatial upper limit coordinates and the spatial lower limit coordinates are four-dimensional space coordinates that integrate the flight time of the drone, the spatial upper limit coordinates and the spatial lower limit coordinates are used to represent the boundary conditions of the drone when flying on the second route, and the flight area is used to represent the safe space area of the drone when flying on the second route.

6. An electronic device, characterized in that: include: memory and a processor, wherein The memory is used to store program instructions; The processor is connected to the memory and is used to execute the method for adjusting the drone route as described in any one of claims 1 to 4.

7. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the method for adjusting the drone route according to any one of claims 1 to 4 by running the computer program.

8. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the method for adjusting the drone route according to any one of claims 1 to 4 is implemented.

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