Flight control method and device of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Abstract

The embodiment of the invention discloses a flight control method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: integrating the flight speed of the unmanned aerial vehicle to obtain an integral distance; when the integral distance exceeds a preset period distance, determining a distance variation between the unmanned aerial vehicle and the obstacle detected by the radar in an integral time period corresponding to the integral distance; determining an obstacle type according to the distance variation, and determining a flight strategy according to the obstacle type; and controlling the UAV to fly according to the flight strategy. According to the technical scheme provided by the embodiment of the invention, false signals can be effectively filtered, the obstacle type can be determined more accurately, the flight strategy can be determined in a targeted manner according to the obstacle type, unnecessary obstacle avoidance flight actions are reduced, energy consumption and flight efficiency loss caused by false alarms are reduced, and the flight experience is improved. And the flight efficiency of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a flight control method and device for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. Background Art

[0002] Drones have been widely used in various industries due to their lightness and flexibility. At present, millimeter-wave radars are mainly installed on the nose of drones, and use millimeter-wave radars to detect whether there are obstacles in front of the drone, and control the drone to avoid obstacles when it is determined that there are obstacles in front.

[0003] In the prior art, obstacles ahead are detected by using traditional constant false alarm detection or convolutional neural network. However, in an external environment with a lot of clutter, more false alarms will be generated, that is, false obstacles will be mistakenly identified as real obstacles. At this time, there will be unnecessary obstacle avoidance flight actions, which will increase the energy consumption of the drone and reduce the flight efficiency of the drone. Summary of the invention

[0004] The embodiments of the present application provide a flight control method and device for a drone, a drone, and a storage medium, which realize the flight control function of the drone to solve the problem in the prior art that the flight efficiency of the drone is reduced due to false alarms.

[0005] In a first aspect, an embodiment of the present application provides a flight control method for a drone, wherein a radar is installed at the nose of the drone, and the method comprises:

[0006] Integrate the flight speed of the drone to get the integrated distance;

[0007] When the integrated distance exceeds the preset periodic distance, determining the change in the distance between the UAV and the obstacle detected by the radar during the integration period corresponding to the integrated distance;

[0008] Determine the obstacle type based on the distance change and determine the flight strategy based on the obstacle type;

[0009] Control the drone according to the flight strategy.

[0010] In the embodiment of the present application, the flight speed of the drone can be integrated to obtain the integral distance, and when the integral distance exceeds the preset periodic distance, the distance change between the drone and the obstacle detected by the radar in the integral period corresponding to the integral distance is determined, and then the obstacle type is determined according to the distance change, and the flight strategy is determined according to the obstacle type, and then the flight of the drone is controlled according to the flight strategy, thereby realizing the flight control function of the drone. In the above technical scheme, by analyzing the distance change when the integral distance exceeds the preset periodic distance, false signals can be effectively filtered, and then the obstacle type (for example, whether it is a real obstacle or a false obstacle caused by clutter, etc.) can be more accurately determined, and then the flight strategy can be further determined according to the obstacle type, and the flight strategy can be determined specifically according to the obstacle type, thereby reducing unnecessary obstacle avoidance flight actions, thereby reducing energy consumption and flight efficiency loss caused by false alarms, solving the problem of reducing the flight efficiency of the drone due to false alarms in the prior art, and improving the flight efficiency of the drone.

[0011] In a second aspect, an embodiment of the present application provides a flight control device for an unmanned aerial vehicle, wherein a radar is installed at the nose of the unmanned aerial vehicle, and the device comprises:

[0012] The integration module is used to integrate the flight speed of the drone to obtain the integrated distance;

[0013] A change amount determination module is used to determine the change amount of the distance between the UAV and the obstacle detected by the radar within the integration period corresponding to the integral distance when the integral distance exceeds the preset period distance;

[0014] A strategy determination module is used to determine the obstacle type according to the distance change and determine the flight strategy according to the obstacle type;

[0015] The control module is used to control the flight of the drone according to the flight strategy.

[0016] In a third aspect, an embodiment of the present application provides a drone, the drone comprising:

[0017] at least one processor; and a memory communicatively coupled to the at least one processor;

[0018] Among them, the memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the flight control method of the drone of any embodiment of the present application.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a flight control method for a drone as in any embodiment of the present application.

[0020] The description of the second, third and fourth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects described in the second, third and fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0021] In this application, the name of the flight control device of the above-mentioned drone does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalent technologies.

[0022] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a flowchart of the flight control method of the UAV provided in the embodiment of the present application;

[0025] Figure 2 is another flowchart of the flight control method of the UAV provided in an embodiment of the present application;

[0026] Figure 3 It is a structural schematic diagram of a flight control device of a UAV provided in an embodiment of the present application;

[0027] Figure 4 It is a structural schematic diagram of the drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0029] It should be noted that the terms "first", "second", "target", and "original" 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 sequence. 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 an order other than that illustrated or described herein. In addition, the terms "including", "having", and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0030] Figure 1 It is a flow chart of the flight control method of the UAV provided in the embodiment of the present application. The present embodiment can be applied to the scenario where it is necessary to determine the obstacle type based on the distance between the UAV and the obstacle detected by the radar, and adjust the flight strategy of the UAV according to the obstacle type. The flight control method of the UAV provided in the present embodiment can be executed by the flight control device of the UAV provided in the embodiment of the present application, and the device can be implemented by software and / or hardware. In a specific embodiment, the flight control device of the UAV can be integrated into the UAV, and the UAV can include a flight controller, and a radar (such as a millimeter wave radar) is installed on the nose of the UAV. The execution subject of this method can be the flight controller of the UAV, see Figure 1 The flight control method of the drone of this embodiment includes but is not limited to the following steps:

[0031] S110: Integrate the flight speed of the UAV to obtain an integrated distance.

[0032] Among them, the flight speed is the distance the UAV moves per unit time during the flight.

[0033] The integral distance is the distance obtained by integrating the flight speed of the drone, and is used to measure the total distance flown by the drone within a period of time.

[0034] Specifically, during the flight of the drone, the speed sensor of the drone can be used to obtain the flight speed of the drone and the timestamp corresponding to the flight speed, and then the integration interval can be determined, that is, the take-off time of the drone can be determined as the starting time of the integration interval, or the integration end time when the last integration distance exceeds the preset cycle distance can be determined as the starting time of the integration interval, and then the current time is determined as the end time of the integration interval. The end time at this time changes dynamically with the flight process until the condition that the integration distance exceeds the preset cycle distance is met. Specifically, as the drone flies, the end time of the integration interval can be changed in real time, that is, the current time is determined in real time as the end time of the integration distance, and then the speed integration formula is used to calculate the integration distance corresponding to the integration interval until the integration distance exceeds the preset cycle distance, that is, the speed integration formula is:

[0035]

[0036] Where s represents the integral distance, t start represents the start time of the integration interval, t end represents the end time of the integration interval, and v represents the flight speed.

[0037] Among them, the preset periodic distance is a pre-set distance threshold, that is, an inspection interval distance set for regularly checking surrounding obstacles, which is used to regularly monitor the obstacle situation on the flight path of the drone. Users can adjust and set the preset periodic distance according to actual usage needs, and the embodiments of the present application do not make specific limitations on this.

[0038] For example, it is known that the take-off time of the UAV is 8:00, the preset cycle distance is 10, and the current time is 8:01. The integral interval 1 determined at this time is [8:00, 8:01]. Secondly, the integral distance 1 corresponding to the integral interval 1 is calculated based on the speed integral formula. If the integral distance 1 does not exceed 10, the UAV is controlled to continue flying. At this time, the current time is 8:02. Then, the end time of the integral interval 1 is modified to obtain the integral interval 2, that is, the determined integral interval 2 is [8:00, 8:02]. Then, the integral distance 2 corresponding to the integral interval 2 is calculated based on the speed integral formula. If the integral distance 2 does not exceed the preset cycle distance, the UAV is controlled to continue flying, and the end time of the integral interval 2 is continued to be changed to obtain a new integral interval, and then the integral distance corresponding to the new integral interval is calculated until the integral distance exceeds the preset cycle distance.

[0039] S120: When the integrated distance exceeds the preset periodic distance, determine the change in the distance between the UAV and the obstacle detected by the radar within the integration period corresponding to the integrated distance.

[0040] Among them, the integration period is the time period corresponding to the integration distance, that is, the time range for integrating the flight speed of the UAV, that is, the integration interval corresponding to the integration distance.

[0041] Obstacles are objects that may affect the safe flight of the drone during its flight. For example, obstacles can be natural objects, such as trees, mountains, and birds, or man-made objects, such as buildings, telephone poles, and other aircraft.

[0042] The distance change is the change in the distance between the UAV and the obstacle during the integration period, which is used to reflect the relative motion between the UAV and the obstacle.

[0043] Specifically, when the integral distance exceeds the preset period distance, the change in the distance between the UAV and the obstacle detected by the radar within the integral period corresponding to the integral distance can be determined, that is, the integral period can be determined according to the start time and end time of the integral interval corresponding to the integral distance, and then the relative distance between the UAV and the obstacle detected by the radar at the start time (recorded as the first distance) is obtained, and the relative distance between the UAV and the obstacle detected by the radar at the end time (recorded as the second distance) is obtained, and then the difference between the first distance and the second distance is calculated, and the difference is determined as the distance change, that is, the actual change in the distance between the UAV and the obstacle within the integral period.

[0044] It should be noted that during the flight of the drone, the radar can monitor the relative distance between the drone and the obstacle in front in real time by actively emitting electromagnetic wave signals to the front, and send the detected relative distance to the flight controller of the drone.

[0045] S130: Determine the obstacle type according to the distance change, and determine the flight strategy according to the obstacle type.

[0046] Among them, obstacle types can include real obstacles and false obstacles; real obstacles are those that actually exist in the UAV flight environment and will pose an actual collision threat to the safe flight of the UAV; false obstacles are those that appear to exist but are caused by radar misjudgment or interference from environmental factors, that is, they will not pose an actual collision threat to the safe flight of the UAV. For example, in a complex electromagnetic environment, the radar may be interfered by other signal sources and mistakenly identify some non-obstacle targets (such as clutter reflected by large metal billboards and strong electromagnetic interference signals) as obstacles. In addition, meteorological conditions (such as heavy rain, heavy snow and dense fog) may also cause radar beam scattering and reflection abnormalities, generating false obstacle signals.

[0047] The flight strategy is a series of flight control measures taken by the drone in order to continue flying safely and efficiently after detecting different types of obstacles.

[0048] Specifically, after obtaining the distance change, the obstacle type can be determined according to the distance change. For example, whether the UAV is close to the obstacle during the flight can be determined according to the relationship between the distance change and the preset change interval, that is, if the distance change is within the preset change interval, it indicates that the UAV is moving in the direction close to the obstacle, and the obstacle will cause an actual collision threat (i.e., physical obstruction) to the safe flight of the UAV. At this time, it can be determined that the obstacle type is a real obstacle; if the distance change is not within the preset change interval, it indicates that the UAV is moving in the direction close to the obstacle, but the obstacle will not cause an actual collision threat to the safe flight of the UAV (for example, the UAV is flying straight ahead, and the obstacle is in front of the left of the UAV), or, it indicates that the UAV is not moving in the direction close to the obstacle (for example, the UAV is flying straight ahead, and the obstacle is on the left side of the UAV), or, it indicates that the distance change shows irregular fluctuations (for example, in an environment with a lot of clutter, small or irregular distance changes caused by environmental interference and other factors), at this time, it can be determined that the obstacle type is a false obstacle. Among them, the preset change interval is a value range of a preset distance change, and the maximum value in the value range is less than the preset periodic distance, which is used to judge the relative motion state between the drone and the obstacle, especially to judge whether the drone is moving in the direction close to the obstacle, and whether the obstacle will pose an actual collision threat to the safe flight of the drone. The user can adjust and set the preset change interval according to actual usage needs, and the embodiment of the present application does not make specific limitations on this.

[0049] Afterwards, the flight strategy can be determined according to the obstacle type. For example, when the obstacle type is a real obstacle, the obstacle avoidance flight strategy can be determined according to the current flight state of the drone and the surrounding environment data, such as circling, climbing or descending flight strategies; when the obstacle type is a false obstacle, the flight strategy of the drone can be kept unchanged, that is, the pre-planned flight control state is kept unchanged. Among them, the flight control state is the state of the drone controlling its flight attitude (including pitch angle, roll angle and yaw angle) and flight speed and other flight parameters during the flight.

[0050] S140. Control the flight of the UAV according to the flight strategy.

[0051] Specifically, after determining the flight strategy, a flight control instruction can be generated based on the flight strategy and executed, that is, the flight attitude and trajectory of the drone can be adjusted by controlling actuators such as motors and servos, so as to achieve flight according to the flight strategy. If the flight state of the drone does not match the expected flight state (i.e., the flight state expected by the drone in the flight strategy), the flight strategy can be adjusted in time.

[0052] Optionally, after the drone executes the flight strategy, S110 to S140 can be repeatedly executed to monitor the surrounding obstacles in real time and adjust the flight strategy in time according to the surrounding obstacles. At this time, the starting time of the integration interval in S110 is the integration end time when the last integration distance exceeds the preset period distance.

[0053] The technical solution of the embodiment of the present application can integrate the flight speed of the drone to obtain the integral distance, and when the integral distance exceeds the preset periodic distance, determine the distance change between the drone and the obstacle detected by the radar in the integral period corresponding to the integral distance, then determine the obstacle type according to the distance change, and determine the flight strategy according to the obstacle type, and then control the flight of the drone according to the flight strategy, thereby realizing the flight control function of the drone. In the above technical solution, by analyzing the distance change when the integral distance exceeds the preset periodic distance, false signals can be effectively filtered, and then the obstacle type (for example, whether it is a real obstacle or a false obstacle caused by clutter, etc.) can be more accurately determined, and then the flight strategy can be further determined according to the obstacle type. The flight strategy can be determined specifically according to the obstacle type, thereby reducing unnecessary obstacle avoidance flight actions, thereby reducing energy consumption and flight efficiency loss caused by false alarms, solving the problem of reducing the flight efficiency of the drone due to false alarms in the prior art, and improving the flight efficiency of the drone.

[0054] The following further describes a flight control method for a drone provided by an embodiment of the present application. Figure 2 1 is another flow chart of the flight control method of the UAV provided in the embodiment of the present application. The embodiment of the present application is optimized on the basis of the above embodiments. Figure 2 The method of this embodiment includes but is not limited to the following steps:

[0055] S201. Integrate the flight speed of the UAV to obtain an integrated distance.

[0056] S202: When the integrated distance exceeds the preset periodic distance, determine the change in the distance between the UAV and the obstacle detected by the radar within the integration period corresponding to the integrated distance.

[0057] S203: Determine whether the distance change is greater than a preset change threshold.

[0058] The preset change threshold is a critical value of the pre-set distance change, and the preset change threshold is less than the preset periodic distance, which is used to judge the relative motion state between the drone and the obstacle, especially to judge whether the drone is moving in the direction close to the obstacle, and whether the obstacle will pose an actual collision threat to the safe flight of the drone. The user can adjust and set the preset change threshold according to actual use requirements, and the embodiment of the present application does not specifically limit this. For example, the preset change threshold can be determined based on factors such as the flight speed of the drone, the measurement accuracy of the radar, the preset periodic distance, and the safety margin.

[0059] Specifically, after obtaining the distance change, the distance change can be compared with a preset change threshold. If the distance change is greater than the preset change threshold, S204 can be executed; if the distance change is not greater than the preset change threshold, S210 can be executed.

[0060] S204: When the distance change is greater than a preset change threshold, determine that the obstacle type is a real obstacle.

[0061] Specifically, when the distance change is greater than the preset change threshold, it indicates that the UAV is moving towards the obstacle, and the obstacle will pose an actual collision threat to the safe flight of the UAV, that is, there may be a collision risk between the UAV and the obstacle. At this time, it can be determined that the obstacle type is a real obstacle.

[0062] S205: Obtain the current pitch angle of the drone.

[0063] Among them, the current pitch angle is the angle between the longitudinal axis of the fuselage (i.e., the axis along the front and rear direction of the drone) and the horizontal plane, that is, the pitch angle of the drone when the obstacle type is determined to be a real obstacle; when the nose of the drone is raised upward, the pitch angle is a positive value; when the nose of the drone is pitched downward, the pitch angle is a negative value.

[0064] Specifically, when the obstacle type is a real obstacle, the drone may be in three flight attitudes: dive (i.e., the nose is pitched down), climb (i.e., the nose is lifted up), and near-horizontal flight (i.e., the nose is parallel to the ground); therefore, it is necessary to determine the flight attitude of the drone based on the current pitch angle of the drone, and determine the obstacle avoidance flight strategy of the drone based on the flight attitude of the drone. Among them, the obstacle avoidance flight strategy is the flight control strategy adopted by the drone to avoid collision when it detects the threat of an obstacle.

[0065] In this way, the current pitch angle of the drone can be obtained, that is, the current pitch angle can be obtained through the inertial measurement unit of the drone. The inertial measurement unit is a common sensor combination used to measure the posture of an object, including sensors such as accelerometers and gyroscopes. By fusing and calculating these sensor data, the posture information of the drone in three-dimensional space, including the pitch angle, can be obtained.

[0066] Optionally, an obstacle avoidance flight strategy is determined according to the current pitch angle. An optimal obstacle avoidance flight strategy can be determined according to the current pitch angle, thereby improving the flight safety and stability of the UAV and reducing the energy consumption of the UAV.

[0067] S206: Determine whether the absolute value of the current pitch angle is greater than a preset angle threshold.

[0068] Among them, the preset angle threshold is a pre-set critical value of the pitch angle, which is used to determine the obstacle avoidance flight strategy corresponding to the current pitch angle of the drone. The user can adjust and set the preset angle threshold according to actual usage requirements, and the embodiments of the present application do not make specific limitations on this.

[0069] Specifically, after determining the current pitch angle, the absolute value of the current pitch angle can be compared with the preset angle threshold. If the absolute value of the current pitch angle is greater than the preset angle threshold, there are two situations: (1) the current pitch angle is a positive value, and the current pitch angle value is greater than the preset angle threshold. At this time, the nose of the UAV is lifted up, and the upward lift is relatively large, indicating that the flight attitude of the UAV is climbing, that is, the UAV is in the climbing stage, and S207 can be executed at this time; (2) the current pitch angle is a negative value, and the absolute value of the current pitch angle is greater than the preset angle threshold. At this time, the nose of the UAV is pitched down, and the downward lift is relatively large, indicating that the flight attitude of the UAV is diving, that is, the UAV is in the diving stage, and S207 can be executed at this time; if the absolute value of the current pitch angle is not greater than the preset angle threshold, it indicates that the UAV is in a near-horizontal flight stage, and S208 can be executed at this time.

[0070] S207: When the absolute value of the current pitch angle is greater than a preset angle threshold, determining that the obstacle avoidance flight strategy is speed reduction flight.

[0071] Specifically, when the absolute value of the current pitch angle is greater than the preset angle threshold, it indicates that the UAV is in a climbing phase or a diving phase. At this time, if the UAV is directly controlled to stop, the flight inertia and aerodynamic characteristics of the UAV may cause the UAV to lose its stable flight state.

[0072] For example, during the climbing phase, the flight speed of the drone includes an upward speed component and a forward speed component. If it brakes suddenly, the forward speed component will suddenly decrease, but due to inertia, the drone will still maintain an upward movement trend, and then the drone may stall or lose attitude control due to the imbalance of gravity and aerodynamics. Decelerating flight can reduce the forward speed component of the drone while maintaining a certain lift and flight stability, avoiding stall and loss of attitude control of the drone, and giving the drone more time to adjust its attitude to avoid obstacles.

[0073] For example, in the dive phase, the flight speed of the drone includes a forward speed component and a downward speed component. If it stops suddenly, the forward speed component will suddenly decrease, but due to inertia, the drone may continue to dive downward, and due to the loss of forward momentum, the control effect of aerodynamics on the drone will become more complicated, which may cause the drone to be unable to be effectively pulled up and then crash. However, decelerating flight can reduce the forward speed component of the drone, while gradually adjusting the drone's dive angle (i.e., pitch angle), and use the remaining aerodynamics to control the drone to smoothly return to a safe flight state.

[0074] Therefore, when the absolute value of the current pitch angle is greater than the preset angle threshold, the obstacle avoidance flight strategy can be determined to be a deceleration flight. For example, by gradually reducing the flight speed, the drone can adjust the attitude of the wings to increase lift and avoid collision with the ground or ground obstacles. The obstacle at this time may be a protruding object on the ground (such as a telephone pole, etc.), so that the drone can fly at a low altitude. After that, S209 can be executed.

[0075] S208: When the absolute value of the current pitch angle is not greater than a preset angle threshold, determining that the obstacle avoidance flight strategy is a braking stop.

[0076] Specifically, when the absolute value of the current pitch angle is not greater than the preset angle threshold, it indicates that the drone is in a near-horizontal flight stage. At this time, if the drone is directly controlled to stop, it will not cause the drone to lose its stable flight state. Therefore, it can be determined that the obstacle avoidance flight strategy is to stop by braking. Then, S209 can be executed.

[0077] S209: Determine the obstacle avoidance flight strategy as the flight strategy.

[0078] Afterwards, S212 may be executed.

[0079] S210: When the distance change is not greater than a preset change threshold, determine that the obstacle type is a false obstacle.

[0080] Specifically, when the distance change is not greater than the preset change threshold, it indicates that the UAV is moving in the direction close to the obstacle, but the obstacle will not pose an actual collision threat to the safe flight of the UAV (for example, the UAV is flying straight ahead, and the obstacle is in front of the left of the UAV), or, it indicates that the UAV is not moving in the direction close to the obstacle (for example, the UAV is flying straight ahead, and the obstacle is on the left side of the UAV), or, it indicates that the distance change shows irregular fluctuations (for example, in an environment with a lot of clutter, small or irregular distance changes caused by environmental interference and other factors). At this time, it can be determined that the obstacle type is a false obstacle.

[0081] S211. Determine the flight strategy to keep the flight control state of the UAV unchanged.

[0082] Specifically, when the obstacle type is a false obstacle, it indicates that the obstacle will not pose an actual collision threat to the safe flight of the UAV (that is, the obstacle is an entity that will not cause physical obstruction to the UAV, or the obstacle is a false obstacle caused by environmental clutter). At this time, there is no need to change the flight strategy of the UAV, and the flight of the UAV is still controlled according to the pre-planned flight control state. Therefore, it can be determined that the flight strategy is to keep the flight control state of the UAV unchanged.

[0083] S212. Control the flight of the UAV according to the flight strategy.

[0084] Specifically, in one implementation, when the flight strategy is to fly at a reduced speed, a speed reduction instruction may be generated and executed, for example, the flight speed of the drone may be reduced to a first preset speed.

[0085] In another implementation, when the flight strategy is a brake stop, a brake stop command can be generated and executed to reduce the flight speed of the drone to 0 and maintain a hovering state.

[0086] In another implementation, when the flight strategy is to keep the flight control state of the UAV unchanged, there is no need to generate additional flight control instructions. It is only necessary to control the flight of the UAV according to the pre-planned flight control state, and repeat S201 to S212 at the same time to monitor the surrounding obstacles in real time and adjust the flight strategy in time according to the surrounding obstacles.

[0087] Optionally, if the obstacle avoidance flight strategy is a deceleration flight, after the UAV is controlled to fly according to the flight strategy, the UAV can be controlled to fly at a first preset speed for a first preset duration, and during the process of flying at the first preset speed for the first preset duration, S201 to S212 are repeatedly executed to monitor the surrounding obstacles in real time and adjust the flight strategy in time according to the surrounding obstacles. If no obstacle is detected during the process of flying at the first preset speed for the first preset duration, the flight speed of the UAV can be restored after flying at the first preset speed for the first preset duration, that is, the flight speed of the UAV can be increased to the speed before the deceleration, which can reduce the energy consumption of the UAV and improve the flight efficiency of the UAV. In the embodiment of the present application, flying at the first preset speed for the first preset duration can allow the various systems of the UAV to rebalance, reduce the unstable factors that may be caused by sudden changes in speed, and monitor the surrounding obstacles in real time during the flight at the first preset speed, so that new obstacles can be discovered in time, thereby improving the flight safety and stability of the UAV.

[0088] Optionally, if the obstacle avoidance flight strategy is to stop by braking, then after controlling the drone to fly according to the flight strategy, the drone can be controlled to retreat and then rise to a preset altitude for flight, that is, after controlling the drone to stop by braking, the drone can be controlled to retreat at a second preset speed for a second preset time, and then the drone can be controlled to rise to a preset altitude for flight, and at the same time, during the process of flying at the second preset speed and preset altitude, S201 to S212 are repeatedly executed to monitor the surrounding obstacles in real time and adjust the flight strategy in time according to the surrounding obstacles. In the embodiment of the present application, by controlling the drone to retreat and then rise to a preset altitude for flight, the drone can be kept away from the dangerous area of ​​obstacles, reducing the collision risk of the drone, and controlling the drone to retreat can avoid the problem that the periodic obstacle detection process (i.e., S202 to S212) cannot be triggered due to the distance between the drone and the potential obstacle being too close, thereby reducing the collision risk of the drone, thereby improving the flight safety and reliability of the drone.

[0089] It should be noted that when the obstacle type is determined to be a real obstacle, the flight speed of the drone is determined as the current flight speed, then the first preset speed is less than the current flight speed, and the second preset speed is less than the current flight speed. The first preset speed and the second preset speed are preset speeds, which can be equal or different, and the size relationship between the two is not specified. In addition, the first preset duration and the second preset duration are preset durations, which can be equal or different.

[0090] Optionally, if the obstacle avoidance flight strategy is to stop, after controlling the flight of the drone according to the flight strategy, obstacle prompt information can be generated and displayed, and then the manual obstacle avoidance command issued by the user is received, and the drone is controlled to execute the manual obstacle avoidance command. In the embodiment of the present application, by generating obstacle prompt information and issuing manual obstacle avoidance commands by the user, a more accurate obstacle avoidance solution can be provided in a complex obstacle layout scenario, thereby reducing the collision risk of the drone, thereby improving the flight safety and reliability of the drone; and, obstacles can be reconfirmed to further avoid false alarm problems, and unnecessary obstacle avoidance flight actions are reduced, thereby reducing the energy consumption of the drone and improving the flight efficiency of the drone.

[0091] The improved technical solution of the embodiment of the present application can effectively filter out false signals by analyzing the distance change when the integrated distance exceeds the preset periodic distance, and thus can more accurately determine the type of obstacle (for example, whether it is a real obstacle or a false obstacle caused by clutter, etc.), and then further determine the flight strategy according to the obstacle type. The flight strategy can be determined specifically according to the obstacle type, thereby reducing unnecessary obstacle avoidance flight actions, thereby reducing energy consumption and flight efficiency loss caused by false alarms, solving the problem of reducing the flight efficiency of the drone due to false alarms in the prior art, and improving the flight efficiency of the drone.

[0092] In addition, when the distance change is greater than the preset change threshold, the obstacle type is determined to be a real obstacle, and when the distance change is not greater than the preset change threshold, the obstacle type is determined to be a false obstacle. Through the size relationship between the distance change and the preset change threshold, it is possible to more accurately determine whether the obstacle type is a real obstacle or a false obstacle, thereby improving the accuracy and efficiency of determining the obstacle type, and providing a basis for determining the subsequent flight strategy.

[0093] When the obstacle type is a real obstacle, the current pitch angle of the drone can be obtained, and when the absolute value of the current pitch angle is greater than the preset angle threshold, the obstacle avoidance flight strategy is determined to be deceleration flight, which can reduce the impact and instability that may be caused by sudden changes in the flight state of the drone, and avoid the drone from stalling and losing attitude control; when the absolute value of the current pitch angle is not greater than the preset angle threshold, the obstacle avoidance flight strategy is determined to be braking, which can ensure that the drone can stop quickly when approaching an obstacle; through the relationship between the current pitch angle and the preset angle threshold, the optimal obstacle avoidance flight strategy can be determined, thereby reducing the collision risk of the drone, thereby improving the flight safety and stability of the drone.

[0094] When the obstacle type is a false obstacle, the flight strategy can be determined to keep the flight control state of the drone unchanged, avoiding unnecessary obstacle avoidance flight actions, thereby reducing the energy consumption of the drone and improving the flight efficiency of the drone, thereby improving the user experience.

[0095] Figure 3 is a schematic diagram of the structure of the flight control device of the UAV provided in the embodiment of the present application, referring to Figure 3 , the flight control device of the UAV may include:

[0096] An integration module 310 is used to integrate the flight speed of the UAV to obtain an integrated distance;

[0097] The change amount determination module 320 is used to determine the change amount of the distance between the UAV and the obstacle detected by the radar within the integration period corresponding to the integrated distance when the integrated distance exceeds the preset periodic distance;

[0098] A strategy determination module 330, for determining the obstacle type according to the distance change, and determining the flight strategy according to the obstacle type;

[0099] The control module 340 is used to control the flight of the UAV according to the flight strategy.

[0100] In one embodiment, the strategy determination module 330 determines the obstacle type according to the distance change, including:

[0101] When the distance change is greater than a preset change threshold, the obstacle type is determined to be a real obstacle;

[0102] When the distance change is not greater than a preset change threshold, the obstacle type is determined to be a false obstacle;

[0103] The preset change threshold is smaller than the preset period distance.

[0104] In one embodiment, the strategy determination module 330 determines the flight strategy according to the obstacle type, including:

[0105] When the obstacle type is a real obstacle, get the current pitch angle of the drone;

[0106] An obstacle avoidance flight strategy is determined according to the current pitch angle, and the obstacle avoidance flight strategy is determined as the flight strategy.

[0107] In one embodiment, the strategy determination module 330 determines the obstacle avoidance flight strategy according to the current pitch angle, including:

[0108] When the absolute value of the current pitch angle is greater than the preset angle threshold, the obstacle avoidance flight strategy is determined to be a deceleration flight;

[0109] When the absolute value of the current pitch angle is not greater than the preset angle threshold, the obstacle avoidance flight strategy is determined to be braking.

[0110] In one embodiment, the flight control device of the drone further includes an automatic obstacle avoidance module, which is specifically used for:

[0111] If the obstacle avoidance flight strategy is to stop by braking, after controlling the drone to fly according to the flight strategy, control the drone to move backward and then rise to the preset altitude.

[0112] In one embodiment, the flight control device of the UAV further includes an artificial obstacle avoidance module, which is specifically used for:

[0113] If the obstacle avoidance flight strategy is to stop, after the drone is controlled to fly according to the flight strategy, obstacle prompt information is generated and displayed;

[0114] Receive manual obstacle avoidance instructions issued by the user and control the drone to execute the manual obstacle avoidance instructions.

[0115] In one embodiment, the strategy determination module 330 determines the flight strategy according to the obstacle type, including:

[0116] When the obstacle type is a false obstacle, the flight strategy is determined to keep the flight control state of the drone unchanged.

[0117] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0118] The flight control device for the drone provided in this embodiment can be applied to the flight control method for the drone provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0119] Figure 4 It is a structural schematic diagram of the drone provided in an embodiment of the present application. Figure 4 A block diagram of an exemplary drone 11 suitable for implementing embodiments of the present application is shown. Figure 4 The drone 11 shown is only an example and should not bring any limitation to the functions and scope of use of this embodiment.

[0120] like Figure 4As shown, the drone 11 is in the form of a general purpose computing electronic device. The components of the drone 11 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0121] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0122] The drone 11 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the drone 11, including volatile and non-volatile media, removable and non-removable media.

[0123] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The drone 11 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0124] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0125] The drone 11 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more user devices (i.e., user devices that allow users to interact with the drone 11), and / or any device that enables the drone 11 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the drone 11 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20.

[0126] like Figure 4 As shown, the network adapter 20 communicates with other modules of the drone 11 via the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with the drone 11, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0127] The processing unit 16 executes various functional applications and page displays by running the program stored in the system memory 28, for example, implementing a flight control method of a drone provided in this embodiment, wherein a radar is installed at the nose of the drone, and the method includes:

[0128] Integrate the flight speed of the drone to get the integrated distance;

[0129] When the integrated distance exceeds the preset periodic distance, determining the change in the distance between the UAV and the obstacle detected by the radar during the integration period corresponding to the integrated distance;

[0130] Determine the obstacle type based on the distance change and determine the flight strategy based on the obstacle type;

[0131] Control the drone according to the flight strategy.

[0132] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the flight control method of the drone provided in any embodiment of the present application.

[0133] The present application provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, a flight control method of a drone provided in the present application is implemented. The drone has a radar installed at its nose. The method includes:

[0134] Integrate the flight speed of the drone to get the integrated distance;

[0135] When the integrated distance exceeds the preset periodic distance, determining the change in the distance between the UAV and the obstacle detected by the radar during the integration period corresponding to the integrated distance;

[0136] Determine the obstacle type based on the distance change and determine the flight strategy based on the obstacle type;

[0137] Control the drone according to the flight strategy.

[0138] The computer storage medium of this embodiment can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0139] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0140] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0141] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0142] It should be understood by those skilled in the art that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0143] In addition, the acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0144] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the inventive concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A flight control method for an unmanned aerial vehicle, characterized in that: The nose of the UAV is equipped with a radar, and the method comprises: Integrating the flight speed of the UAV to obtain an integrated distance; When the integrated distance exceeds a preset periodic distance, determining a change in the distance between the UAV and the obstacle detected by the radar within an integration period corresponding to the integrated distance; Determining the obstacle type according to the distance change, and determining the flight strategy according to the obstacle type; The UAV is controlled to fly according to the flight strategy.

2. The flight control method of an unmanned aerial vehicle according to claim 1, characterized in that: The determining the obstacle type according to the distance change comprises: When the distance change is greater than a preset change threshold, determining that the obstacle type is a real obstacle; When the distance change is not greater than a preset change threshold, determining that the obstacle type is a false obstacle; Wherein, the preset change threshold is smaller than the preset period distance.

3. The flight control method of an unmanned aerial vehicle according to claim 2, characterized in that: The determining of the flight strategy according to the obstacle type comprises: When the obstacle type is a real obstacle, obtaining a current pitch angle of the drone; An obstacle avoidance flight strategy is determined according to the current pitch angle, and the obstacle avoidance flight strategy is determined as the flight strategy.

4. The flight control method of an unmanned aerial vehicle according to claim 3, characterized in that: The determining of the obstacle avoidance flight strategy according to the current pitch angle includes: When the absolute value of the current pitch angle is greater than a preset angle threshold, determining that the obstacle avoidance flight strategy is a deceleration flight; When the absolute value of the current pitch angle is not greater than a preset angle threshold, the obstacle avoidance flight strategy is determined to be a braking stop.

5. The flight control method of an unmanned aerial vehicle according to claim 4, characterized in that: If the obstacle avoidance flight strategy is braking, then after controlling the flight of the drone according to the flight strategy, the method further includes: The drone is controlled to move backward and then rise to a preset altitude.

6. The flight control method of an unmanned aerial vehicle according to claim 4, characterized in that: If the obstacle avoidance flight strategy is braking, then after controlling the flight of the drone according to the flight strategy, the method further includes: Generate obstacle prompt information and display the obstacle prompt information; Receive manual obstacle avoidance instructions issued by the user, and control the drone to execute the manual obstacle avoidance instructions.

7. The flight control method of an unmanned aerial vehicle according to claim 2, characterized in that: The determining of the flight strategy according to the obstacle type comprises: When the obstacle type is a false obstacle, the flight strategy is determined to keep the flight control state of the UAV unchanged.

8. A flight control device for an unmanned aerial vehicle, characterized in that: The nose of the UAV is equipped with a radar, and the device includes: An integration module, used for integrating the flight speed of the UAV to obtain an integrated distance; A change amount determination module, used to determine the change amount of the distance between the UAV and the obstacle detected by the radar within the integration period corresponding to the integral distance when the integral distance exceeds the preset periodic distance; A strategy determination module, used to determine the obstacle type according to the distance change, and determine the flight strategy according to the obstacle type; A control module is used to control the flight of the UAV according to the flight strategy.

9. A drone, characterized in that: The drone comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the flight control method of the drone described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the flight control method of the unmanned aerial vehicle as described in any one of claims 1 to 7 is implemented.

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