Unmanned aerial vehicle flight control systems, methods, apparatuses, devices, and media

Abstract

The application relates to a UAV flight control system, method, device, computer equipment, computer readable storage medium and computer program product. The system comprises an object detection module, a data processor, a close-range communication module and a flight control subsystem, wherein the object detection module detects whether a flying object exists around the body in real time; the data processor determines whether the flying object is a target UAV based on the detection data, predicts whether the flight trajectory of the body and the flight trajectory of the target UAV conflict based on the first flight trajectory of the target UAV if the flying object is the target UAV, transmits the flight trajectory of the body to the target UAV through the close-range communication module if the prediction result is conflict and the real-time distance from the body is less than a preset distance threshold, verifies the trajectory conflict by obtaining the second flight trajectory of the target UAV, determines the conflict position to adjust the trajectory of the body, and controls the flight control subsystem to adjust the flight trajectory of the body. The system can avoid collision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, and in particular to an unmanned aerial vehicle flight control system, method, device, computer equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] At present, unmanned aerial vehicles are widely used, resulting in a large number of unmanned aerial vehicles flying at low altitudes (100m to 1000m from the ground), causing confusion in unmanned aerial vehicle flight. In the same low altitude range, there are multiple unmanned aerial vehicles flying, and there may also be other objects disturbing the flight of the unmanned aerial vehicles, resulting in poor flight effect, and even collision and falling. SUMMARY

[0003] Therefore, it is necessary to provide an unmanned aerial vehicle flight control system, method, device, computer equipment, computer readable storage medium and computer program product capable of avoiding collision.

[0004] In a first aspect, the present application provides an unmanned aerial vehicle flight control system, comprising an object detection module, a data processor, a close-range communication module and a flight control subsystem, wherein:

[0005] The object detection module is configured to detect whether there is a flying object around the body in real time, and send detection data to the data processor;

[0006] The data processor is configured to determine a first flight trajectory of a target unmanned aerial vehicle and a real-time distance between the target unmanned aerial vehicle and the body based on the detection data if the flying object is determined to be the target unmanned aerial vehicle;

[0007] The close-range communication module is configured to interact with the target unmanned aerial vehicle;

[0008] The data processor is further configured to predict whether the flight trajectory of the body and the target unmanned aerial vehicle conflict based on the first flight trajectory of the target unmanned aerial vehicle, and if the prediction result is conflict, establish close-range communication with the target unmanned aerial vehicle if the real-time distance between the target unmanned aerial vehicle and the body is determined to be less than a preset distance threshold, transmit the flight trajectory of the body to the target unmanned aerial vehicle through the close-range communication module, and obtain a second flight trajectory of the target unmanned aerial vehicle through the close-range communication module; if it is verified that the flight trajectory of the body and the target unmanned aerial vehicle conflict based on the second flight trajectory, determine a conflict position, and adjust the trajectory of the body according to the conflict position to obtain a trajectory adjustment instruction and an adjusted flight trajectory, and send the trajectory adjustment instruction to the flight control subsystem and transmit the adjusted flight trajectory to the target unmanned aerial vehicle through the close-range communication module;

[0009] The flight control subsystem is configured to adjust the flight trajectory of the body according to the trajectory adjustment instruction.

[0010] In one embodiment, the flight control subsystem further comprises a forced stop subsystem; the object detection module comprises a radar module, wherein:

[0011] The radar module is configured to obtain the moving direction and speed of the flight object around the body; the flight object around the body comprises the target UAV and other flight objects except the target UAV;

[0012] The data processor is further configured to determine the flight trajectory of the flight object according to the moving direction and speed of the flight object; in the case that the flight trajectory of the flight object conflicts with the flight trajectory of the body and the body cannot timely change the flight trajectory, generate a forced stop instruction and send it to the forced stop subsystem;

[0013] The forced stop subsystem is configured to control the body to hover according to the forced stop instruction.

[0014] In one embodiment, the system further comprises a vibration detection module, wherein:

[0015] The vibration detection module is configured to detect the vibration value of the body and send the vibration value to the data processor;

[0016] The data processor is further configured to determine that the body is subjected to a collision in the case that the vibration value is greater than a preset vibration threshold, and generate a body angle adjustment instruction and send it to the flight control subsystem, so that the position of the camera on the body is at the end of the flight direction and the end of the body corresponding to the position of the camera is raised;

[0017] The flight control subsystem is further configured to adjust the body angle and flight posture according to the body angle adjustment instruction.

[0018] In one embodiment, the close-range communication module establishes a close-range communication connection with the target UAV within a distance range corresponding to a preset distance threshold through Bluetooth communication technology.

[0019] In one embodiment, the object detection module further comprises a laser scanner, wherein:

[0020] The laser scanner is configured to obtain the object shape and size model of the flight object around the body by using three-dimensional laser scanning technology;

[0021] The data processor is further configured to determine whether the flying object is a target unmanned aerial vehicle according to the object shape and size model, and determine a flight trajectory of the flying object carrying shape and size information according to the moving direction and speed of the flying object and the object shape and size model.

[0022] The data processor is further configured to perform trajectory conflict determination according to the flight trajectory of the object and the flight trajectory of the flying object carrying shape and size information.

[0023] In a second aspect, the present application provides a method for controlling the flight of an unmanned aerial vehicle, which is applied to the data processor as described in the first aspect, and includes the following steps.

[0024] The object detection module is configured to acquire detection data of flying objects around the object in real time, and determine a first flight trajectory of a target unmanned aerial vehicle and a real-time distance between the target unmanned aerial vehicle and the object based on the detection data if the flying object is determined to be the target unmanned aerial vehicle.

[0025] The object detection module is configured to acquire detection data of flying objects around the object in real time, and determine a first flight trajectory of a target unmanned aerial vehicle and a real-time distance between the target unmanned aerial vehicle and the object based on the detection data if the flying object is determined to be the target unmanned aerial vehicle.

[0026] If the prediction result is that the flight trajectories of the object and the target unmanned aerial vehicle conflict, the short-distance communication module is configured to establish short-distance communication with the target unmanned aerial vehicle if the real-time distance between the target unmanned aerial vehicle and the object is less than a preset distance threshold, transmit the flight trajectory of the object to the target unmanned aerial vehicle through the short-distance communication module, and acquire a second flight trajectory of the target unmanned aerial vehicle through the short-distance communication module.

[0027] In a third aspect, the present application further provides a device for controlling the flight of an unmanned aerial vehicle, which is applied to the data processor as described in the first aspect, and includes the following components.

[0028] The data acquisition module is configured to acquire detection data of flying objects around the object in real time through the object detection module, and determine a first flight trajectory of a target unmanned aerial vehicle and a real-time distance between the target unmanned aerial vehicle and the object based on the detection data if the flying object is determined to be the target unmanned aerial vehicle.

[0029] The trajectory interaction module is configured to predict whether the flight trajectory of the target UAV conflicts with the first flight trajectory of the body based on the first flight trajectory of the target UAV, and if the prediction result is that the flight trajectories conflict, to establish close-range communication with the target UAV through the close-range communication module if the real-time distance between the target UAV and the body is determined to be less than a preset distance threshold, to transmit the flight trajectory of the body to the target UAV through the close-range communication module, and to obtain a second flight trajectory of the target UAV through the close-range communication module.

[0030] The trajectory adjustment module is configured to determine a conflict position if the flight trajectory of the target UAV is verified to conflict with the flight trajectory of the body based on the second flight trajectory, to adjust the flight trajectory of the body according to the conflict position, to obtain a trajectory adjustment instruction and an adjusted flight trajectory, to send the trajectory adjustment instruction to the flight control subsystem, to cause the flight control subsystem to adjust the flight trajectory of the body according to the trajectory adjustment instruction, and to transmit the adjusted flight trajectory to the target UAV through the close-range communication module.

[0031] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in the second aspect when executing the computer program.

[0032] In a fifth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method in the second aspect when executed by a processor.

[0033] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program implements the steps of the method in the second aspect when executed by a processor.

[0034] The unmanned aerial vehicle flight control system, method, device, computer equipment, computer readable storage medium and computer program product described above detect whether a flight object exists around the body in real time through the object detection module, and send the detection data to the data processor; determine whether the flight object is a target unmanned aerial vehicle based on the detection data through the data processor, determine the first flight trajectory of the target unmanned aerial vehicle and the real-time distance between the target unmanned aerial vehicle and the body when the target unmanned aerial vehicle is determined; predict whether the flight trajectories of the body and the target unmanned aerial vehicle conflict based on the first flight trajectory of the target unmanned aerial vehicle through the data processor, if the prediction result is conflict, establish close-range communication with the target unmanned aerial vehicle in the case that the real-time distance between the target unmanned aerial vehicle and the body is less than the preset distance threshold, transmit the flight trajectory of the body to the target unmanned aerial vehicle through the close-range communication module, and obtain the second flight trajectory of the target unmanned aerial vehicle through the close-range communication module; in the case that the flight trajectories of the body and the target unmanned aerial vehicle are verified to conflict based on the second flight trajectory, determine the conflict position, and adjust the trajectory of the body according to the conflict position to obtain the trajectory adjustment instruction and the adjusted flight trajectory, send the trajectory adjustment instruction to the flight control subsystem, adjust the flight trajectory of the body through the flight control subsystem, and transmit the adjusted flight trajectory to the target unmanned aerial vehicle through the close-range communication module. The application detects the data of the flight object around through the object detection module, then determines the flight trajectory of the target unmanned aerial vehicle based on the detection data through the data processor, thereby predicting whether the body and the target unmanned aerial vehicle exist conflict risk, then establishes close-range communication with the target unmanned aerial vehicle through the close-range communication module in the case that the real-time distance between the target unmanned aerial vehicle and the body is less than the preset distance threshold, obtains the second flight trajectory of the target unmanned aerial vehicle to verify whether the flight trajectories of the body and the target unmanned aerial vehicle conflict, determines the conflict position when the verification result is conflict, and then adjusts the flight trajectory of the body through the flight control subsystem and transmits the adjusted flight trajectory to the target unmanned aerial vehicle. This can reduce the collision of unmanned aerial vehicles due to the conflict of flight trajectories with other unmanned aerial vehicles, and plays a protective role for the flying unmanned aerial vehicle. When the first flight trajectory is predicted to conflict, the second flight trajectory is used to verify whether the conflict exists, which can not only reduce the risk of unmanned aerial vehicle collision, but also reduce the close-range communication interaction with other unmanned aerial vehicles and reduce communication resource consumption. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application or the related art. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other related drawings according to these drawings without creative labor.

[0036] Figure 1Fig. 1 is a schematic diagram of a structure of a UAV flight control system according to an embodiment;

[0037] Figure 2 Fig. 2 is a schematic diagram of a flow of a UAV flight control method according to an embodiment;

[0038] Figure 3 Fig. 3 is a block diagram of a structure of a UAV flight control device according to an embodiment;

[0039] Figure 4 Fig. 4 is a diagram of an internal structure of a computer device according to an embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0042] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In addition, "connected" in the following embodiments should be understood as "electrically connected", "communicatively connected" and the like if there is transmission of electrical signals or data between the connected objects.

[0043] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It should also be understood that the term "comprising" or "including" or "having" and the like, specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0044] In an exemplary embodiment, as shown in Fig. 1, a UAV flight control system is provided, comprising an object detection module 101, a data processor 102, a short-range communication module 103 and a flight control subsystem 104, wherein: Figure 1

[0045] The object detection module 101 is used to detect in real time whether there is a flying object around the body, and send the detection data to the data processor 102.

[0046] ​The object detection module can monitor the environment around the body drone in real time, and detect whether there is a flying object. The flying object can be a drone, a bird, or other objects. The object detection module can obtain surrounding detection data through various sensors, for example, through a radar to obtain the moving direction and speed of the flying object and the distance from the body.

[0047] The data processor 102 is configured to determine the first flight trajectory of the target drone and the real-time distance from the body based on the detection data if it is determined that the flying object is the target drone.

[0048] The detection data can also include the shape information of the flying object. The target drone can refer to a drone that needs to be noticed. Specifically, the data processor determines whether the flying object is a target drone according to the shape information in the detection data. In the case where it is determined that the flying object is a target drone, the first flight trajectory of the target drone is fitted through the detection data, and the real-time distance from the target drone to the body is obtained through the object detection module.

[0049] The short-range communication module 103 is configured to interact information with the target drone. The short-range communication module uses wireless communication technology to communicate with the target drone in a short distance, for example, using Wi-Fi Direct communication technology, Bluetooth communication technology or dedicated radio communication technology, so that the drone can directly interact information without the need of Internet or other network infrastructure.

[0050] The data processor 102 is further configured to predict whether the flight trajectories of the body and the target drone conflict based on the first flight trajectory of the target drone. If the prediction result is conflict, the short-range communication with the target drone is established if it is determined that the real-time distance from the target drone to the body is less than a preset distance threshold. The flight trajectory of the body is transmitted to the target drone through the short-range communication module 103, and the second flight trajectory of the target drone is obtained through the short-range communication module 103. In the case where it is verified that the flight trajectories of the body and the target drone conflict based on the second flight trajectory, the conflict position is determined, and the trajectory adjustment of the body is performed according to the conflict position to obtain the trajectory adjustment instruction and the adjusted flight trajectory. The trajectory adjustment instruction is sent to the flight control subsystem 104, and the adjusted flight trajectory is transmitted to the target drone through the short-range communication module 103.

[0051] The preset distance threshold can be determined according to the communication establishment range of the short-range communication module, or according to the safety distance of the drone and the object, which can be set according to the actual situation, and is not limited here. The second flight trajectory can refer to the flight path planned by the target drone itself.

[0052] The flight control subsystem 104 is configured to adjust the flight trajectory of the body according to the trajectory adjustment instruction.

[0053] The flight control subsystem can control the movement of the UAV, such as speed, direction, height, etc., and thus control the flight trajectory of the UAV.

[0054] For example, the object detection module detects a flying object A around the body in real time, and sends the detection data of the flying object A to the data processor. The data processor determines whether the flying object is the target UAV based on the detection data of the flying object A. If it is determined that the flying object A is the target UAV A, the first flight trajectory of the target UAV A and the real-time distance from the body B are determined. Then, the data processor predicts the next flight trajectory of the target UAV A based on the first flight trajectory of the target UAV A, and predicts whether there is a conflict between the next flight trajectory of the target UAV A and the body B. If the result of continuing to fly according to the current flight trajectory of each is a conflict in flight trajectory, the real-time distance between the target UAV A and the body B is monitored in real time. When it is determined that the real-time distance is less than a preset distance threshold, a close-range communication between the body B and the target UAV A is established. The flight trajectory of the body B is transmitted to the target UAV A through the close-range communication module 103, and the second flight trajectory of the target UAV A is obtained through the close-range communication module 103. The second flight trajectory is the flight path planned by the target UAV A itself. Based on the flight path planned by the target UAV B itself, it is verified whether the flight trajectory of the body B and the target UAV A conflicts. If it is verified that they conflict, the conflict position is determined according to the flight path planned by the target UAV A itself and the flight path planned by the body B. The flight trajectory of the body B is adjusted according to the conflict position, such as changing the flight direction and / or speed of the body B, to obtain the corresponding trajectory adjustment instruction and the adjusted flight trajectory. The trajectory adjustment instruction is sent to the flight control subsystem 104, and the flight direction and / or speed of the body B is changed through the flight control subsystem. The adjusted flight trajectory is transmitted to the target UAV A through the close-range communication module 103. By sending the adjusted flight trajectory to the target UAV A, the same trajectory adjustment of the target UAV A can be avoided to cause trajectory conflict again.

[0055] In the unmanned aerial vehicle flight control system, the object detection module detects data of surrounding flight objects, and then the data processor determines a flight trajectory of a target unmanned aerial vehicle based on the detection data, so as to predict whether the body and the target unmanned aerial vehicle exist a risk of conflict, and then in the case that the distance between the target unmanned aerial vehicle and the body is less than a preset distance threshold, the close-range communication module is used to establish close-range communication with the target unmanned aerial vehicle, the second flight trajectory of the target unmanned aerial vehicle is acquired to verify whether the flight trajectory of the body conflicts with the flight trajectory of the target unmanned aerial vehicle, the conflict position is determined when the verification is conflict, and then the flight control subsystem is used to adjust the flight trajectory of the body and transmit the adjusted flight trajectory to the target unmanned aerial vehicle, so that the situation of collision of the unmanned aerial vehicle with other unmanned aerial vehicles due to the conflict of flight trajectories can be reduced, the unmanned aerial vehicle is protected, the first flight trajectory is used for prediction, the second flight trajectory is used for verification when the prediction is conflict, the risk of collision of the unmanned aerial vehicle can be reduced, and the close-range communication interaction with other unmanned aerial vehicles can be reduced, and the communication resource consumption is reduced.

[0056] In an exemplary embodiment, the flight control subsystem further comprises a forced stop subsystem; the object detection module comprises a radar module, wherein:

[0057] The radar module is used to acquire the moving direction and speed of the flight objects around the body; wherein the flight objects around the body include the target unmanned aerial vehicle and other flight objects except the target unmanned aerial vehicle.

[0058] The data processor is further used to determine the flight trajectory of the flight object according to the moving direction and speed of the flight object; in the case that the flight trajectory of the flight object conflicts with the flight trajectory of the body and the body cannot change the flight trajectory in time, a forced stop instruction is generated and sent to the forced stop subsystem;

[0059] The forced stop subsystem is used to control the body to hover according to the forced stop instruction.

[0060] The forced stop subsystem can control the unmanned aerial vehicle to stop advancing and hover in the air.

[0061] Exemplarily, the moving direction and speed of a plurality of flight objects around the body are acquired by the radar module, the data processor determines the flight trajectories of the plurality of flight objects according to the moving direction and speed of the plurality of flight objects, wherein the flight trajectory of one flight object conflicts with the flight trajectory of the body, and the distance between the flight object and the body is relatively close, so that the body cannot change the flight trajectory in time to effectively avoid, a forced stop instruction is generated and sent to the forced stop subsystem, and the body is controlled by the forced stop subsystem to stop advancing and hover in the air.

[0062] In this embodiment, the radar module is used to monitor the flying objects in the surrounding environment in real time, and the data processor is used to analyze the moving direction and speed of these objects, so as to predict the potential collision risk. When a conflict is detected and the conflict cannot be avoided by adjusting the flight trajectory, the forced stop system is used to force the UAV to stop and hover, so as to effectively avoid the collision accident. That is, in addition to the conventional trajectory adjustment, the UAV flight control system in this embodiment is also equipped with a forced stop system as the last line of defense, so that even in extreme cases, there is an additional protection measure to ensure that the UAV will not collide with other objects, thereby improving the safety performance of the UAV.

[0063] In one exemplary embodiment, the system further comprises a vibration detection module, wherein:

[0064] The vibration detection module is configured to detect the vibration value of the body and send the vibration value to the data processor.

[0065] The vibration detection module can be used to detect the vibration of the UAV body. The vibration detection module can be an accelerometer, a gyroscope or other types of vibration sensors, which can capture any vibration caused by external impact encountered by the UAV during flight. The vibration value is usually measured in acceleration, and the vibration detection module converts the detected value into quantifiable data and sends it to the data processor.

[0066] The data processor is further configured to determine that the body is subjected to a collision when the vibration value is greater than a preset vibration threshold, and to generate a body angle adjustment instruction and send it to the flight control subsystem, so that the position of the camera on the body is at the end of the flight direction and the end of the body corresponding to the position of the camera is raised; the flight control subsystem is further configured to adjust the body angle and the flight attitude according to the body angle adjustment instruction.

[0067] The preset vibration threshold is a preset numerical standard, which can be used to distinguish between normal operation conditions and abnormal vibration. When the detected vibration value exceeds this threshold, it indicates that the UAV may have encountered a collision or other abnormal conditions. Adjusting the body angle and the flight attitude can be to make the camera on the UAV face away from the flight direction, thereby reducing the probability of collision with other objects, achieving the purpose of protecting the camera. At the same time, according to the change of the flight attitude, the end of the UAV at the position of the camera is raised, and the other end is lowered, which can protect the camera to some extent and facilitate subsequent data recovery.

[0068] In this embodiment, the vibration detection module detects the vibration data in real time, adjusts the flight attitude in time after exceeding the preset vibration threshold, reduces the risk of secondary collision, and raises the camera part, which can avoid contact with other objects during the flight recovery process, reduces the loss caused by collision, and protects the camera and other recording instruments, so that the data can be recovered later. In addition, the position of other components on the body can also be adjusted in this embodiment to protect the corresponding components or the overall structure.

[0069] In an exemplary embodiment, the short-range communication module establishes a short-range communication connection with the target drone within a distance range corresponding to a preset distance threshold through Bluetooth communication technology. The Bluetooth communication technology is a short-range wireless communication technology, which is usually used for low-power data transmission between devices, and its effective communication range is generally between 10 meters and 100 meters.

[0070] In this embodiment, the power consumption of the short-range communication connection established by the Bluetooth communication technology is low, which can reduce the endurance loss caused by communication to the drone. Through the Bluetooth communication technology, the short-range communication module can quickly establish a connection, reduce the communication delay between the drone and the target drone, achieve real-time data exchange, reserve sufficient time for trajectory adjustment, and thus improve the success rate of conflict avoidance.

[0071] In an exemplary embodiment, the object detection module further includes a laser scanner, wherein:

[0072] The laser scanner is used to obtain an object shape and size model of the flying object around the body by using three-dimensional laser scanning technology.

[0073] The data processor is further configured to determine whether the flying object is the target drone according to the object shape and size model, and determine a flight trajectory carrying shape and size information of the flying object according to the moving direction and speed of the flying object and the object shape and size model. The data processor is further configured to perform trajectory conflict judgment according to the flight trajectory of the body and the flight trajectory carrying shape and size information of the flying object.

[0074] The laser is a three-dimensional scanning device based on laser technology, which can generate an accurate three-dimensional model of the surrounding environment. The laser scanner determines the distance by emitting a laser beam and measuring the time difference of the return signal, thereby constructing a three-dimensional profile of the object.

[0075] The object shape and size model can be a three-dimensional model of the flying object created based on the data obtained by the laser scanner, including the size, shape and structure of the flying object, etc.

[0076] The trajectory conflict judgment according to the flight trajectory of the body and the flight trajectory with the shape and size information of the flying object can refer to predicting the future path of the flying object in combination with the moving direction, speed and shape and size model of the flying object. Such trajectory information contains the space occupation of the object, which helps to more accurately predict the potential trajectory conflict risk.

[0077] Exemplarily, the object shape and size model of the flying object around the body is acquired by the laser scanner. The data processor determines whether the flying object is the target unmanned aerial vehicle instead of a bird or other object according to the object shape and size model. Then, the flight trajectory with shape and size information of the flying object is determined according to the moving direction and speed of the flying object in combination with the object shape and size model. The shape and size information in the flight trajectory can indicate the space occupation of the flying object. The data processor determines whether there is a risk of interference, that is, a trajectory conflict, between each structural part of the body and the flying object in combination with the flight trajectory according to the space occupation of the flying object.

[0078] In the embodiment, the object shape and size model of the flying object around the body is acquired by the laser scanner, which can intelligently identify whether the flying object is the target unmanned aerial vehicle. Then, the flight trajectory of the flying object is predicted according to the moving speed and direction of the flying object in combination with the object shape and size model. The flight trajectory contains the size and shape information of the object, which can be used for more accurate trajectory conflict judgment.

[0079] In one exemplary embodiment, as shown in Figure 2 A method for controlling the flight of an unmanned aerial vehicle is provided, which is applied to the data processor in the first aspect. The method comprises the following steps:

[0080] In step S202, the detection data of the flying object around the body is acquired by the object detection module in real time. Based on the detection data, if it is determined that the flying object is the target unmanned aerial vehicle, the first flight trajectory of the target unmanned aerial vehicle and the real-time distance from the body are determined.

[0081] The object detection module can monitor the environment around the body in real time to detect whether there is a flying object. The flying object can be an unmanned aerial vehicle, a bird or other object. The object detection module can acquire the surrounding detection data through various sensors, for example, the moving direction and speed of the flying object and the distance from the body are acquired by a radar.

[0082] The detection data can further include shape information of the flying object. The target unmanned aerial vehicle can be an unmanned aerial vehicle that needs to be paid attention to. Specifically, the data processor determines whether the flying object is the target unmanned aerial vehicle according to the shape information in the detection data. If it is determined that the flying object is the target unmanned aerial vehicle, a first flight trajectory of the target unmanned aerial vehicle is fitted through the detection data, and a real-time distance between the target unmanned aerial vehicle and the body is obtained through the object detection module.

[0083] In step S204, whether the flight trajectory of the body and the target unmanned aerial vehicle conflicts is predicted based on the first flight trajectory of the target unmanned aerial vehicle. If the prediction result is that the flight trajectories conflict, the near distance communication module is used to establish near distance communication with the target unmanned aerial vehicle if it is determined that the real-time distance between the target unmanned aerial vehicle and the body is less than a preset distance threshold. The flight trajectory of the body is transmitted to the target unmanned aerial vehicle through the near distance communication module, and a second flight trajectory of the target unmanned aerial vehicle is obtained through the near distance communication module.

[0084] The preset distance threshold can be determined according to the communication establishment range of the near distance communication module, or can be determined according to the safety distance between the unmanned aerial vehicle and the body. The second flight trajectory can be a flight path planned by the target unmanned aerial vehicle itself.

[0085] In step S206, if it is determined that the flight trajectory of the body and the target unmanned aerial vehicle conflicts based on the second flight trajectory, a conflict position is determined, and the trajectory of the body is adjusted according to the conflict position to obtain a trajectory adjustment instruction and an adjusted flight trajectory. The trajectory adjustment instruction is sent to the flight control subsystem, so that the flight control subsystem adjusts the flight trajectory of the body according to the trajectory adjustment instruction, and the adjusted flight trajectory is transmitted to the target unmanned aerial vehicle through the near distance communication module.

[0086] The flight control subsystem can control the movement of the unmanned aerial vehicle, such as speed, direction, height, etc., thereby controlling the flight trajectory of the unmanned aerial vehicle.

[0087] Exemplarily, the object detection module detects in real time that there is a flying object A around the body, and sends the detection data of the flying object A to the data processor. The data processor determines whether the flying object is a target unmanned aerial vehicle based on the detection data of the flying object A. If it is determined that the flying object A is a target unmanned aerial vehicle A, the first flight trajectory of the target unmanned aerial vehicle A and the real-time distance from the body B are determined. Then, the data processor predicts the next flight trajectory of the target unmanned aerial vehicle A based on the first flight trajectory of the target unmanned aerial vehicle A, and predicts whether there is a conflict between the next flight trajectory of the target unmanned aerial vehicle A and the body B. If the result of predicting that the flight trajectories continue to fly according to the current flight trajectories is that the flight trajectories conflict, the real-time distance between the target unmanned aerial vehicle A and the body B is monitored in real time. When it is determined that the real-time distance is less than a preset distance threshold, the near distance communication between the body B and the target unmanned aerial vehicle A is established. The flight trajectory of the body B is transmitted to the target unmanned aerial vehicle A through the near distance communication module 103, and the second flight trajectory of the target unmanned aerial vehicle A is obtained through the near distance communication module 103. The second flight trajectory is the flight path planned by the target unmanned aerial vehicle A itself. Based on the flight path planned by the target unmanned aerial vehicle B itself, it is verified whether the flight trajectories of the body B and the target unmanned aerial vehicle A conflict. In the case of verifying conflict, the conflict position is determined according to the flight path planned by the target unmanned aerial vehicle A itself and the flight path planned by the body B. The trajectory of the body B is adjusted according to the conflict position, such as changing the flight direction and / or speed of the body B, to obtain corresponding trajectory adjustment instructions and an adjusted flight trajectory. The trajectory adjustment instructions are sent to the flight control subsystem 104, and the flight direction and / or speed of the body B is changed through the flight control subsystem. The adjusted flight trajectory is transmitted to the target unmanned aerial vehicle A through the near distance communication module 103. By sending the adjusted flight trajectory to the target unmanned aerial vehicle A, the same trajectory adjustment of the target unmanned aerial vehicle A can be avoided to cause trajectory conflict again.

[0088] In this embodiment, the object detection module detects the data of the surrounding flying objects, and then the data processor determines the flight trajectory of the target unmanned aerial vehicle based on the detection data, so as to predict whether the body has a conflict risk with the target unmanned aerial vehicle, and then in the case that the implementation distance between the target unmanned aerial vehicle and the body is less than the preset distance threshold, the near distance communication module is used to establish near distance communication with the target unmanned aerial vehicle, the second flight trajectory of the target unmanned aerial vehicle is acquired to verify whether the flight trajectory of the body conflicts with the flight trajectory of the target unmanned aerial vehicle, the conflict position is determined when the verification is conflict, and then the flight control subsystem is used to adjust the flight trajectory of the body and transmit the adjusted flight trajectory to the target unmanned aerial vehicle, so that the collision of the unmanned aerial vehicle with other unmanned aerial vehicles due to the conflict of the flight trajectories can be reduced, the unmanned aerial vehicle is protected, the first flight trajectory is used for prediction, the second flight trajectory is used for verification when the conflict is predicted, the unmanned aerial vehicle collision risk can be reduced, and the near distance communication interaction with other unmanned aerial vehicles can be reduced, and the communication resource consumption can be reduced.

[0089] In one specific embodiment, a low-altitude flight control system applied to unmanned aerial vehicle airborne geophysical prospecting is provided, and the low-altitude flight control system applied to unmanned aerial vehicle airborne geophysical prospecting comprises:

[0090] The positioning module, the radar ranging module, the laser scanner, the data processor, the aircraft flight control system, the near distance communication module, and the vibration sensor.

[0091] The signal output ends of the positioning module, the radar ranging module, and the laser scanner are connected with the data processor, the signal output end of the data processor is connected with the aircraft flight control system, and the near distance communication module and the vibration sensor are connected with the data processor.

[0092] The positioning module adopts a GPS module or a Beidou positioning module. The GPS module is an integrated circuit composed of an RF radio frequency chip, a baseband chip, a core CPU, and related peripheral circuits. The positioning module does not broadcast signals and belongs to passive positioning. By operating the pseudo distance of each satellite, the distance intersection method is used to obtain the longitude, latitude, height, and time correction of the receiver.

[0093] The radar ranging module is based on the principle of radar, which measures the distance of an object by transmitting microwaves and receiving the reflected microwaves. The process of transmitting microwaves is called "detection", and the process of receiving reflected microwaves is called "tracking". The principle of radar ranging is that when the transmitted microwave beam irradiates on the object, a part of the microwave will be reflected back, and the intensity is inversely proportional to the distance. Therefore, as long as the intensity of the reflected microwave is measured, the distance of the object from the radar source can be obtained. Radar can also measure the speed and direction of the object, which is achieved by calculating the frequency of the reflected microwaves. The frequency of the microwaves is proportional to the speed and direction of the object, so as long as the frequency of the microwaves is measured, the speed and direction of the object can be obtained.

[0094] Here, based on the radar ranging module, the objects around the unmanned aerial vehicle and the moving direction and speed of the objects are monitored. When the object is static, such as trees, buildings, and soil slopes, the unmanned aerial vehicle can avoid the driving route. When the object is dynamically running, the driving trajectory and speed of the object and other related parameters need to be calculated, for example:

[0095] Here, the unmanned aerial vehicle flies in a direction at a speed a, and one of the objects around the unmanned aerial vehicle moves at a speed b. When the moving path of the object does not intersect with the moving path of the unmanned aerial vehicle, the movement of the object will not affect the flight of the unmanned aerial vehicle, and the object can be ignored (flying in the air, since the size of the unmanned aerial vehicle is small, the contact between the unmanned aerial vehicle and the object can be ignored). When the moving path of the object intersects with the moving path of the unmanned aerial vehicle, the time for the object to move to the intersection point of the path and the time for the unmanned aerial vehicle to move to the intersection point of the path are calculated. When the two times are the same, the running trajectory of the unmanned aerial vehicle is changed or the speed of the unmanned aerial vehicle is accelerated or decelerated. When the two times are not the same, the movement of the object will not affect the flight of the unmanned aerial vehicle, and the influence of the object can be ignored.

[0096] Regarding the type of the object, when the object is an electronic flight device, the electronic flight device may change its motion state, and real-time monitoring of the object is required.

[0097] When there are multiple objects around the unmanned aerial vehicle, the above processing method can be applied to each object separately.

[0098] The laser scanner is installed at the bottom and periphery of the unmanned aerial vehicle, scans and detects objects at the periphery of the unmanned aerial vehicle, and obtains the shape and size of the objects. The laser scanner is composed of a laser emitter, a receiver, a time counter, a motor-controlled rotatable optical filter, a control circuit board, a microcomputer, a CCD machine and software, and is a technical update in the surveying and mapping field after GPS technology. It breaks through the traditional single-point measurement method and has the unique advantages of high efficiency and high precision. The three-dimensional laser scanning technology can provide three-dimensional point cloud data of the scanned object surface, and thus can be used to obtain high-precision and high-resolution digital terrain models, object shape and size acquisition modeling, etc.

[0099] The collected obstacle and terrain map data are output to a data processor, the data processor formulates a flight mode and a flight trajectory of the unmanned aerial vehicle based on the data, and outputs control to a flight control system of the aerial vehicle, and the flight control system of the aerial vehicle executes the flight mode and the flight trajectory of the unmanned aerial vehicle.

[0100] There is a case of using different control ends to control two (or multiple) unmanned aerial vehicles flying at low altitudes. When the paths of the unmanned aerial vehicles flying at low altitudes close to each other are changed, the changed paths still conflict.

[0101] The short-range communication module uses Bluetooth communication technology that can automatically establish a connection relationship at a distance of 3-5 m. When two unmanned aerial vehicles flying at low altitudes are close and the operator fails to plan a new route in time, the two unmanned aerial vehicles flying at low altitudes interact information based on the short-range communication module.

[0102] When the two unmanned aerial vehicles flying at low altitudes are close, their flight trajectories are transmitted to each other based on Bluetooth communication technology. After receiving the flight trajectory, the unmanned aerial vehicle flying at low altitudes judges whether the flight trajectory conflicts with its own flight trajectory. If there is a conflict, the two unmanned aerial vehicles flying at low altitudes interact, and one of the unmanned aerial vehicles flying at low altitudes adjusts the trajectory of the conflict position (based on the data processor outputting control to the flight control system of the aerial vehicle, and the flight control system of the aerial vehicle adjusting the flight trajectory), so as to avoid the collision of the two unmanned aerial vehicles flying at low altitudes.

[0103] A forced stop or steering system is set. The forced stop system is integrated in the flight control system of the aerial vehicle, and is used in combination with a radar ranging module. The radar ranging module monitors the objects around the unmanned aerial vehicle and the moving direction and speed of the objects. When it is judged that the two unmanned aerial vehicles flying at low altitudes have come too close to change the trajectory to avoid obstacles, the unmanned aerial vehicle is controlled to hover based on the forced stop system, so as to reduce the kinetic energy of direct collision. At this time, the hovering unmanned aerial vehicle is regarded as a stationary obstacle, which facilitates the other unmanned aerial vehicle to change the path and make adjustments.

[0104] When hovering is needed, the rudder is driven according to the flight speed and flight direction of the unmanned aerial vehicle before hovering, and the angle of the rudder is changed.

[0105] The vibration sensor is used to detect whether a collision occurs during the flight of the unmanned aerial vehicle. A vibration range is set. When the vibration sensor detects that the vibration value of the unmanned aerial vehicle exceeds the vibration range, it is considered that the unmanned aerial vehicle has been collided. At this time, the vibration sensor outputs the information of the collision of the unmanned aerial vehicle to the data processor. The data processor outputs the flight control system of the aircraft to adjust the angle of the unmanned aerial vehicle, so that the end of the camera and other instruments of the unmanned aerial vehicle deviates from the flight direction, and the end is raised and the other end is lowered (which plays a certain protective role for the camera and other instruments, and is used for data recovery in the future).

[0106] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0107] Based on the same inventive concept, the embodiments of the present application also provide a kind of unmanned aerial vehicle flight control device for realizing the unmanned aerial vehicle flight control method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitation in one or more unmanned aerial vehicle flight control device embodiments provided below can refer to the limitation of the unmanned aerial vehicle flight control method in the above, which will not be repeated here.

[0108] In one exemplary embodiment, as shown in Figure 3 An unmanned aerial vehicle flight control device is provided, comprising: a data acquisition module 301, a trajectory interaction module 302 and a trajectory adjustment module 303, wherein:

[0109] The data acquisition module 301 is configured to acquire the detection data of the flight object around the body in real time through the object detection module, and based on the detection data, if it is determined that the flight object is a target unmanned aerial vehicle, the first flight trajectory of the target unmanned aerial vehicle and the real-time distance from the body are determined.

[0110] The trajectory interaction module 302 is configured to predict whether the flight trajectory of the target UAV conflicts with the first flight trajectory of the body based on the first flight trajectory of the target UAV, and if the prediction result is that the flight trajectories conflict, to establish close-range communication with the target UAV through the close-range communication module if the real-time distance between the target UAV and the body is determined to be less than a preset distance threshold, to transmit the flight trajectory of the body to the target UAV through the close-range communication module, and to obtain the second flight trajectory of the target UAV through the close-range communication module.

[0111] The trajectory adjustment module 303 is configured to determine a conflict position if the flight trajectory of the target UAV is verified to conflict with the flight trajectory of the body based on the second flight trajectory, to perform trajectory adjustment of the body according to the conflict position to obtain a trajectory adjustment instruction and an adjusted flight trajectory, to send the trajectory adjustment instruction to the flight control subsystem so that the flight control subsystem adjusts the flight trajectory of the body according to the trajectory adjustment instruction, and to transmit the adjusted flight trajectory to the target UAV through the close-range communication module.

[0112] The various modules in the above unmanned aerial vehicle flight control device can be implemented in whole or in part by software, hardware, and combinations thereof. The various modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form so as to be called and executed by the processor to perform the operations corresponding to the various modules.

[0113] In one exemplary embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in Figure 4 The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement an unmanned aerial vehicle flight control method.

[0114] Those skilled in the art can understand that Figure 4The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0115] In an embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0116] In an embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0117] In an embodiment, a computer program product is provided, including a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0118] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0119] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0120] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A drone flight control system, characterized in that, The system comprises an object detection module, a data processor, a close-range communication module and a flight control subsystem, wherein: The object detection module is configured to detect in real time whether there is a flying object around the body and send detection data to the data processor; The data processor is configured to determine a first flight trajectory of the target UAV and a real-time distance between the target UAV and the body based on the detection data if the flying object is determined to be the target UAV; The close-range communication module is configured to interact with the target UAV in information; The data processor is further configured to predict whether the flight trajectory of the body and the target UAV conflict based on the first flight trajectory of the target UAV, and if the prediction result is conflict, establish close-range communication with the target UAV if the real-time distance between the target UAV and the body is determined to be less than a preset distance threshold, transmit the flight trajectory of the body to the target UAV through the close-range communication module, and obtain the second flight trajectory of the target UAV through the close-range communication module; if it is verified that the flight trajectory of the body and the target UAV conflict based on the second flight trajectory, determine the conflict position and adjust the trajectory of the body according to the conflict position to obtain a trajectory adjustment instruction and an adjusted flight trajectory, and send the trajectory adjustment instruction to the flight control subsystem and transmit the adjusted flight trajectory to the target UAV through the close-range communication module; The flight control subsystem is configured to adjust the flight trajectory of the body according to the trajectory adjustment instruction.

2. The UAV flight control system of claim 1, wherein, The flight control subsystem further comprises a forced stop subsystem, and the object detection module comprises a radar module, wherein: The radar module is configured to obtain the moving direction and speed of the flying object around the body, and the flying object around the body includes the target UAV and other flying objects except the target UAV; The data processor is further configured to determine the flight trajectory of the flying object according to the moving direction and speed of the flying object, and generate a forced stop instruction and send it to the forced stop subsystem if the flight trajectory of the flying object and the flight trajectory of the body conflict and the body cannot change the flight trajectory in time; The forced stop subsystem is configured to control the body to hover according to the forced stop instruction.

3. The UAV flight control system of claim 1, wherein, The system further comprises a vibration detection module, wherein: The vibration detection module is configured to detect the vibration value of the body and send the vibration value to the data processor; The data processor is further configured to determine that the body is subjected to a collision if the vibration value is greater than a preset vibration threshold, and generate a body angle adjustment instruction and send it to the flight control subsystem to make the position of the camera on the body at the end of the flight direction and the end of the body corresponding to the position of the camera is upturned; The flight control subsystem is further configured to adjust the angle and flight attitude of the body according to the body angle adjustment instruction.

4. The UAV flight control system of claim 1, wherein, The close-range communication module establishes close-range communication connection with the target UAV within the distance range corresponding to the preset distance threshold through Bluetooth communication technology.

5. The UAV flight control system of claim 2, wherein, The object detection module further comprises a laser scanner, wherein: The laser scanner is configured to obtain an object shape size model of the flying object around the body by using a three-dimensional laser scanning technology; The data processor is further configured to determine whether the flying object is a target UAV according to the object shape size model, and determine a flight trajectory of the flying object carrying shape size information according to the moving direction and speed of the flying object and the object shape size model; The data processor is further configured to perform trajectory conflict determination according to the flight trajectory of the body and the flight trajectory of the flying object carrying shape size information.

6. A method for flight control of a drone, the method comprising: The data processor applied to the UAV flight control system of any one of claims 1-5, the method comprising: obtaining, by an object detection module, detection data of a flying object around the body in real time, and determining a first flight trajectory of the target UAV and a real-time distance from the body based on the detection data if the flying object is determined to be a target UAV; predicting, by a trajectory interaction module, whether the flight trajectory of the body and the target UAV conflict based on the first flight trajectory of the target UAV, and establishing, by a short-range communication module, short-range communication with the target UAV if the prediction result is conflict and the real-time distance from the target UAV to the body is less than a preset distance threshold, transmitting the flight trajectory of the body to the target UAV through the short-range communication module, and obtaining a second flight trajectory of the target UAV through the short-range communication module; determining a conflict position and adjusting the flight trajectory of the body according to the conflict position if it is verified that the flight trajectory of the body and the target UAV conflict based on the second flight trajectory, obtaining a trajectory adjustment instruction and an adjusted flight trajectory, and sending the trajectory adjustment instruction to a flight control subsystem to make the flight control subsystem adjust the flight trajectory of the body according to the trajectory adjustment instruction and transmit the adjusted flight trajectory to the target UAV through the short-range communication module.

7. An unmanned aerial vehicle flight control device, characterized by, The data processor applied to the UAV flight control system of any one of claims 1-5, the device comprising: a data acquisition module configured to obtain, by an object detection module, detection data of a flying object around the body in real time, and determine a first flight trajectory of the target UAV and a real-time distance from the body based on the detection data if the flying object is determined to be a target UAV; a trajectory interaction module configured to predict, based on the first flight trajectory of the target UAV, whether the flight trajectory of the body and the target UAV conflict, and establish, by a short-range communication module, short-range communication with the target UAV if the prediction result is conflict and the real-time distance from the target UAV to the body is less than a preset distance threshold, transmit the flight trajectory of the body to the target UAV through the short-range communication module, and obtain a second flight trajectory of the target UAV through the short-range communication module; The trajectory adjustment module is configured to determine a conflict position when the second flight trajectory verifies that the body collides with the flight trajectory of the target UAV, and to adjust the trajectory of the body according to the conflict position to obtain a trajectory adjustment instruction and an adjusted flight trajectory, and to send the trajectory adjustment instruction to the flight control subsystem so that the flight control subsystem adjusts the flight trajectory of the body according to the trajectory adjustment instruction, and to transmit the adjusted flight trajectory to the target UAV through the short-distance communication module.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of claim 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of claim 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of claim 6. The computer program is executed by the processor to implement the steps of the method of claim 6.

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