Unmanned aerial vehicle collision risk identification method, storage medium, electronic equipment and product

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, and particularly provides an unmanned aerial vehicle collision risk identification method, a storage medium, electronic equipment and a product, and the method can comprise the steps: receiving the position data of a target unmanned aerial vehicle; encoding the position data according to a preset encoding rule to obtain an unmanned aerial vehicle position code, the unmanned aerial vehicle position code including a height code, and a circular ring code and an arc code related to the distance and angle between the target unmanned aerial vehicle and the unmanned aerial vehicle remote identification receiver; and determining whether the target unmanned aerial vehicle has a collision risk or not by judging a relationship between the unmanned aerial vehicle position code and other unmanned aerial vehicle code data. According to some embodiments of the invention, whether the unmanned aerial vehicle has a collision risk can be accurately identified, and the flight safety of the unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the field of drone control technology, and more specifically, to a method, storage medium, electronic device, and product for identifying drone collision risks. Background Art

[0002] With the continuous development of drone technology, drones are widely used in various fields to perform related tasks. According to relevant specifications, drones need to have the ability to broadcast their location via Wifi beacon or Bluetooth. The airspace management party places a certain number of drone remote identification receivers on the tops of buildings within the airspace to receive the location data broadcast by drones.

[0003] At present, in order to effectively identify the risk of UAV collision, the UAV remote identification receiver can receive the location data broadcast by the UAV, and then send the location data to the back-end server to determine whether there is a collision risk; if there is, the UAV operator will manage the flight control of the UAV. It can be seen that the current link for identifying the risk of UAV collision is long and mainly depends on the judgment of the back-end server; however, the transmission of data is affected by many factors, and the back-end server may not be able to obtain the location data of the UAV in time, and cannot accurately identify the collision risk, which will have a greater impact on the flight safety of UAVs in the airspace.

[0004] Therefore, how to provide a technical solution for an efficient method for identifying drone collision risks has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of some embodiments of the present application is to provide a method, storage medium, electronic device and product for identifying drone collision risks. The technical solutions of the embodiments of the present application can improve the accuracy and efficiency of drone collision risk identification and ensure the flight safety of drones in the airspace.

[0006] In a first aspect, some embodiments of the present application provide a method for identifying drone collision risks, which is applied to a drone remote identification receiver, comprising: receiving location data of a target drone; encoding the location data according to a preset coding rule to obtain a drone location code, wherein the drone location code includes an altitude code, and a circular ring code and an arc code related to the distance and angle between the target drone and the drone remote identification receiver; determining whether the target drone has a collision risk by judging the relationship between the drone location code and other drone code data.

[0007] Some embodiments of the present application encode the position data of the target drone according to a preset encoding rule to obtain the drone position code, and then determine whether the target drone has a collision risk by judging whether there is other drone code data in the corresponding code set. Some embodiments of the present application can improve the accuracy and efficiency of drone collision risk identification through position coding, and ensure the flight safety of drones in the airspace.

[0008] In some embodiments, the altitude code is obtained by the following method: determining the altitude code based on a ratio of the altitude of the drone in the position data to a preset altitude.

[0009] Some embodiments of the present application determine the altitude code by the ratio of the altitude of the drone to the preset altitude, thereby achieving effective encoding of the altitude of the target drone and providing a basis for subsequent collision risk identification.

[0010] In some embodiments, the circular ring code is obtained by the following method: calculating the horizontal distance between the target UAV and the UAV remote identification receiver; taking the UAV remote identification receiver as the center of the circle, determining the circular ring code based on the ratio of the horizontal distance to the preset circular ring spacing.

[0011] Some embodiments of the present application implement circular coding of the target UAV on the horizontal plane through the horizontal distance and preset circular spacing between the target UAV and the UAV remote identification receiver, providing a basis for subsequent collision risk identification.

[0012] In some embodiments, the arc code is obtained by the following method: taking the UAV remote identification receiver as the origin, calculating the relative angle of the target UAV with respect to the UAV remote identification receiver; and determining the arc code based on the ratio of the relative angle to the sector stratification degree.

[0013] Some embodiments of the present application determine the arc code by the relative angle and fan-shaped layering degree of the target drone, providing a basis for subsequent collision risk identification.

[0014] In some embodiments, the sector stratification degree is obtained by the following method: obtaining the radius of the next ring adjacent to the ring corresponding to the ring code through the preset ring spacing; calculating the sector stratification degree based on the radius of the next ring and the maximum value of the distance between two points in the next ring.

[0015] Some embodiments of the present application determine the effective fan-shaped stratification degree by presetting the circular ring spacing and the maximum value of the spacing between two points on the circular ring, so as to achieve arc coding of the target drone within a safe range.

[0016] In some embodiments, determining whether the target drone has a collision risk by judging the relationship between the drone position code and other drone code data includes: if it is confirmed that other drone data with the same code exists in the code set corresponding to the drone position code, then the target drone has a collision risk.

[0017] In some embodiments, determining whether there is a collision risk with the target drone by judging the relationship between the drone position code and other drone code data includes: analyzing the position relationship between the drone position code and adjacent drones in adjacent code data to determine whether there is a collision risk with the target drone; wherein the adjacent code data includes: code data adjacent to the altitude code in the drone position code, code data adjacent to the arc code in the drone position code, and code data adjacent to the ring code in the drone position code.

[0018] Some embodiments of the present application can accurately identify whether a target drone has a collision risk by confirming the relationship between the drone position code and other drone code data, and the identification efficiency is relatively high.

[0019] In some embodiments, the analyzing the position relationship between the drone position code and the adjacent drones in the adjacent code data to determine whether the target drone has a collision risk includes: obtaining the position information to be evaluated corresponding to the adjacent drone; calculating the distance to be evaluated between the drone to be evaluated and the target drone based on the position information to be evaluated and the position data of the target drone; if the distance to be evaluated is less than a preset distance threshold, confirming that the target drone has a collision risk; if the distance to be evaluated is greater than or equal to the preset distance threshold, confirming that the target drone does not have a collision risk.

[0020] Some embodiments of the present application can accurately identify whether there is a collision risk with the target drone by performing calculations and analyses on the extracted position information to be evaluated and the position data of the target drone, with high recognition efficiency.

[0021] In some embodiments, when there is a risk of collision with the target drone, collision warning information is sent to the target drone so that the target drone can execute an avoidance plan.

[0022] Some embodiments of the present application can send collision warning information to the target drone, so that the drone can execute an avoidance plan to avoid collision and improve flight safety.

[0023] In a second aspect, some embodiments of the present application provide a device for identifying collision risks of unmanned aerial vehicles, comprising: a receiving module for receiving position data of a target unmanned aerial vehicle; a coding module for encoding the position data according to a preset coding rule to obtain a unmanned aerial vehicle position code, wherein the unmanned aerial vehicle position code includes an altitude code, and a circular ring code and an arc code related to the distance and angle between the target unmanned aerial vehicle and the unmanned aerial vehicle remote identification receiver; a collision risk identification module for determining whether there is a collision risk for the target unmanned aerial vehicle by judging the relationship between the unmanned aerial vehicle position code and other unmanned aerial vehicle coding data.

[0024] In a third aspect, some embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0025] In a fourth aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement a method as described in any embodiment of the first aspect when executing the program.

[0026] In a fifth aspect, some embodiments of the present application provide a computer program product, wherein the computer program product comprises a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings required for use in some embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A system diagram for drone collision risk identification provided for some embodiments of the present application; Figure 2 One of the flow charts of the method for identifying the risk of collision of unmanned aerial vehicles provided in some embodiments of the present application; Figure 3 A highly hierarchical coding schematic diagram provided for some embodiments of the present application; Figure 4 A diagram of a circular hierarchical coding structure provided for some embodiments of the present application; Figure 5A schematic diagram of calculating the fan-shaped stratification degree provided for some embodiments of the present application; Figure 6 A schematic diagram of reasoning for drone position coding provided for some embodiments of the present application; Figure 7 A second flowchart of a method for identifying drone collision risks provided in some embodiments of the present application; Figure 8 A schematic diagram of relative angles of a target drone provided for some embodiments of the present application; Fig. 9 A block diagram of a device for identifying the risk of collision with a drone provided in some embodiments of the present application; Fig.10 A schematic diagram of an electronic device is provided for some embodiments of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in some embodiments of the present application will be described below in conjunction with the drawings in some embodiments of the present application.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] In the related technology, the process of identifying and handling drone collision risks includes: the drone remote identification receiver receives the location data broadcast by the drone, and then forwards the received location data to the back-end server through 4G or Internet cable; the back-end server integrates the received drone location data, calculates the distance between drones, and determines whether there is a collision risk. For example, if the back-end server identifies that there is a drone collision risk within the current airspace, it will generate a work order for the collision risk and promptly notify the corresponding drone operating company. After receiving the collision risk, the drone operating company will send an intervention instruction to the drone flight control (for example, hovering or bypassing operation instructions). It can be seen that the overall link of the current drone collision risk identification is relatively long, involving many steps, and its core point is that the drone remote identification receiver forwards the drone location data. Once the network jitter or failure occurs, the location data cannot be forwarded to the back-end server normally, and the drone collision risk cannot be timely identified, which seriously affects the safety of drone flights in the airspace.

[0032] In view of this, some embodiments of the present application provide a method for identifying collision risks of drones, in which a drone remote identification receiver can encode the location data of a target drone after receiving it to obtain a drone location code; then determine whether there are other drone code data in the code set corresponding to the drone location code, and then identify whether the target drone has a collision risk. The drone remote identification receiver in the embodiments of the present application can realize accurate identification of the collision risk of the target drone, reduce the link length, improve the identification efficiency, and help ensure the flight safety of drones in the airspace.

[0033] The following is combined with Figure 1 The overall composition structure of the system for identifying the risk of collision of unmanned aerial vehicles provided by some embodiments of the present application is exemplified.

[0034] like Figure 1 As shown, some embodiments of the present application provide a system for identifying the risk of collision of a drone, which may include a drone remote identification receiver 100 and a target drone 200. The drone remote identification receiver 100 and the target drone 200 can perform two-way communication. After receiving the position data of the target drone 200, the drone remote identification receiver 100 can calculate in real time whether there is a collision risk with the target drone 200, and transmit the collision risk warning information to the target drone 200 in real time. The target drone 200 can perform avoidance solutions such as hovering or detouring according to the collision risk warning information to avoid collision.

[0035] In some embodiments of the present application, the drone remote identification receiver 100 can receive location data of multiple drones and perform real-time assessment of whether there is a risk of collision between the multiple drones. The embodiments of the present application are not limited to the target drone 200.

[0036] The following is combined with Figure 2 The implementation process of drone collision risk identification performed by the drone remote identification receiver 100 provided in some embodiments of the present application is exemplified.

[0037] Please see attached Figure 2 , Figure 2 A flow chart of a method for identifying a drone collision risk is provided for some embodiments of the present application. The method for identifying a drone collision risk may include: S210, receiving location data of the target UAV.

[0038] For example, in some embodiments of the present application, since the target drone 200 has the ability to broadcast its location via Wifi beacon or Bluetooth, the drone remote identification receiver 100 can receive the location data sent by it in real time. The location data includes the remoteID of the target drone 200 (the remote identification ID of the target drone 200), the drone longitude, the drone latitude, and the drone altitude. In addition, the drone remote identification receiver 100 is also provided with its own corresponding location information, such as longitude and latitude information: (120.14081955, 30.19089336).

[0039] S220, encode the position data according to a preset coding rule to obtain a UAV position code, wherein the UAV position code includes an altitude code, and a circular ring code and an arc code related to the distance and angle between the target UAV and the UAV remote identification receiver.

[0040] For example, in some embodiments of the present application, the drone remote identification receiver 100 encodes the received location data according to an internal preset encoding rule to obtain a drone location code.

[0041] In some embodiments of the present application, S220 may include: determining the altitude code based on a ratio of the altitude of the drone in the position data to a preset altitude.

[0042] For example, in some embodiments of the present application, the altitude of the drone is coded in layers, for example, 10 meters (as a specific example of the preset altitude) is used as a layer, and the following can be obtained: Figure 3 The height layered coding schematic diagram shown in the figure, wherein 0~13 represents the divided height coding, and the content after 0~13 represents the height range. That is, when the height coding starts from "0", when the height coding is 0, the drone is in the height range of 0~10 meters. The height coding of the target drone 200 is obtained by rounding down the ratio of the drone height / 10 received in real time. For example, the drone height is 125 meters, and 125 / 10 is rounded down to obtain a height coding of 12. In another embodiment, if the height coding starts from "1", when the height coding is 1, the drone is in the height range of 0~10 meters. At this time, the height coding of the target drone 200 is obtained by rounding up the ratio of the drone height / 10 received in real time. For example, the drone height is 125 meters, and 125 / 10 is rounded up to obtain a height coding of 13. It should be understood that whether the ratio of the drone height to the preset height is rounded up or rounded down depends on the encoding method, and the embodiments of the present application are not limited to this.

[0043] Among them, the value of the preset height can be flexibly set according to the actual application scenario, and the embodiment of the present application does not make any specific limitation here.

[0044] In some embodiments of the present application, S220 may include: calculating the horizontal distance between the target UAV and the UAV remote identification receiver; determining the circular ring code based on the ratio of the horizontal distance to the preset circular ring spacing with the UAV remote identification receiver as the center of the circle.

[0045] For example, in some embodiments of the present application, the target drone 200 is subjected to circular hierarchical coding to determine the circular coding of the target drone 200. Specifically, the horizontal distance between the target drone 200 and the drone remote identification receiver 100 on a two-dimensional horizontal plane is first calculated using the latitude and longitude information. The location of the drone remote identification receiver 100 is taken as the center point of the circle, and the preset circular spacing is taken as one layer, and the horizontal distance between the two is divided into the following: Figure 4 The circular hierarchical coding structure diagram shown in the figure (the solid black dots in the figure are the drone remote identification receiver 100). Among them, the preset circular ring spacing can be 100 meters, which represents the minimum safe distance for drone collision risk identification, that is, there is a collision risk within 100 meters. In one embodiment, the circular ring code is encoded from "0", and the ratio of horizontal distance / 100 is rounded down to obtain the circular ring code. For example, the horizontal distance between the target drone 200 and the drone remote identification receiver 100 is 988 meters, and 988 / 100 is rounded down to obtain a circular ring code of 9. In another embodiment, the circular ring code is encoded from "1", and the ratio of horizontal distance / 100 is rounded up to obtain a circular ring code. For example, the horizontal distance between the target drone 200 and the drone remote identification receiver 100 is 988 meters, and 988 / 100 is rounded up to obtain a circular ring code of 10. It should be understood that whether the ratio of the horizontal distance to the preset circular ring spacing is rounded up or down depends on the encoding method, and the embodiments of the present application are not limited to this.

[0046] Among them, the value of the preset ring spacing can be flexibly set according to the actual application scenario, and the embodiment of the present application does not make any specific limitation here.

[0047] Next, the target UAV 200 is subjected to arc coding (determining the range of the sector in the circular ring where the target UAV 200 is located). Before arc coding, in some embodiments of the present application, the radius of the next circular ring adjacent to the circular ring corresponding to the circular ring code is obtained through the preset circular ring spacing; based on the radius of the next circular ring and the maximum value of the distance between two points in the next circular ring, the sector stratification degree is calculated.

[0048] For example, in some embodiments of the present application, when performing arc coding on the target drone 200, it is necessary to perform sector-ring hierarchical coding on the circle, that is, to divide the circle in the previous step into equal sectors. First, determine the two points on the next circle of the circle coding where the current target drone 200 is located that meet the maximum distance between the two points, that is, Figure 5 The two endpoints of the line segment of length a shown. Then determine the radius of the next circle (i.e. Figure 5 The length of the radius of the line segments b and c in the figure is the product of the ring code and the preset ring spacing). The formula is evaluated by inverse trigonometric function: , calculate Figure 5 The angle in .Should The maximum distance between two points can be 100 meters, which is the safe distance where there is no risk of collision between two drones.

[0049] In some embodiments of the present application, S220 may include: taking the UAV remote identification receiver as the origin, calculating the relative angle of the target UAV relative to the UAV remote identification receiver; and determining the arc code based on the ratio of the relative angle to the fan-shaped stratification degree.

[0050] For example, in some embodiments of the present application, the drone remote identification receiver 100 is taken as the origin, the due east direction is 0 degrees, and the due north direction is 90 degrees, and the relative angle of the target drone 200 relative to the origin is obtained; the relative angle / The ratio of is rounded up or down to get the sector ring code (as a specific example of arc code). Similarly, the relative angle / When the ratio is rounded up, the sector ring coding starts from "1"; the relative angle / When the ratio of is rounded down, the sector ring coding starts from "0". It should be understood that the embodiment of the present application is not limited to this.

[0051] In another scenario, the ring code starts from "1". If the current ring code is 1, that is, the distance between the target UAV 200 and the UAV remote identification receiver 100 is 0~100 meters, there is only one circle, no ring, and the maximum distance between two points on the circle in each sector of the circle is two points on the circle. It is 60 degrees.

[0052] After the above coding processing of the altitude layer, annular layer, and sector ring layer of the target UAV 200, the airspace with the UAV remote identification receiver 100 as the center and a radius of 5km (5km is the maximum range that the UAV remote identification receiver 100 can receive signals) can be obtained. The regional sector ring or sector-shaped area where the target UAV 200 is located can be obtained. The distance between UAVs in the same coding area is less than 100 meters. The following takes the method of coding the altitude layer, annular layer, and sector ring layer starting with "1" as an example. The specific UAV position coding (referred to as position coding) inference table is as follows Figure 6 shown. Figure 6 In the altitude layer, the altitude code is 1, which represents the range of the drone altitude from 0 to 10 meters. The circle codes of the ring layer include 1 and 2, where code 1 represents a circle in the range of 0 to 100 meters, and code 2 represents a circle in the range of 100 to 200 meters. The sector ring layer divides the 360 ​​degrees of the circle into multiple sector ring codes according to the sector angle (60 degrees and 30 degrees).

[0053] S230, determining whether the target drone has a collision risk by judging the relationship between the drone position code and other drone code data. The other drone code data may include: code data identical to the drone position code, code data adjacent to the arc code in the drone position code, and code data adjacent to the ring code in the drone position code.

[0054] For example, in some embodiments of the present application, by analyzing the situation between the unmanned drone coded data and the coded data of other drones, it can be determined whether there is a collision risk with the target drone 200.

[0055] In some embodiments of the present application, S230 may include: if it is confirmed that other drone data with the same code exists in the code set corresponding to the drone position code, then there is a risk of collision with the target drone.

[0056] For example, in some embodiments of the present application, each drone position code corresponds to a code set. If the code set contains the same position code data as the target drone 200, it indicates that the two drones have a collision risk. If there is no other drone data in the code set corresponding to the drone position code, it indicates that there is only the current target drone 200 in this position code and there is no collision risk. At this time, the drone position code of the target drone 200 is stored in the code set.

[0057] In some other embodiments of the present application, S230 may include: analyzing the positional relationship between the drone position code and adjacent drones in adjacent coding data to determine whether there is a collision risk with the target drone; wherein the adjacent coding data includes: coding data adjacent to the height code in the drone position code, coding data adjacent to the arc code in the drone position code, and coding data adjacent to the ring code in the drone position code.

[0058] For example, in other embodiments of the present application, due to the two adjacent arc rings, the straight-line distance of the drone may be less than the safety threshold of 100 meters (as a specific example of the preset distance threshold), so it is necessary to further evaluate whether there is a collision risk between the adjacent drone and the target drone 200. For example, the drone position code of the target drone 200 is 11-13-12, then the adjacent coding data includes: 10-13-12, 12-13-12, 11-13-11, 11-13-13, 11-12-12 and 11-14-12, these adjacent coding data are stored in their respective coding sets, and one coding data corresponds to one drone. It can be understood that in actual applications, according to the real-time flight situation of the drone, the adjacent coding data may exist in part or all of the above, or may not exist at all. The embodiment of the present application is only to illustrate which adjacent drones need to be identified for collision risks, so all adjacent situations are listed, which does not belong to the specific limitation of the embodiment of the present application.

[0059] In some other embodiments of the present application, S230 may include: obtaining the position information to be evaluated corresponding to the adjacent drone; calculating the distance to be evaluated between the drone to be evaluated and the target drone based on the position information to be evaluated and the position data of the target drone; if the distance to be evaluated is less than a preset distance threshold, confirming that there is a collision risk with the target drone; if the distance to be evaluated is greater than or equal to the preset distance threshold, confirming that there is no collision risk with the target drone.

[0060] For example, in some embodiments of the present application, when it is confirmed that there is an adjacent drone to the target drone 200, the position information of the adjacent drone to be evaluated is taken out from the corresponding code set. The distance to be evaluated between the target drone 200 and the adjacent drone is calculated by the latitude and longitude information of the drone. If the distance to be evaluated is less than 100 meters, there is a collision risk between the two, otherwise there is no collision risk.

[0061] In some embodiments of the present application, when there is a risk of collision with the target drone, collision warning information is sent to the target drone so that the target drone can execute an avoidance plan.

[0062] For example, in some embodiments of the present application, if the target drone 200 is at risk of collision, the remote identification receiver 100 will send the location information of the adjacent drones (as a specific example of collision warning information) to the target drone 200. After receiving the location information of the adjacent drones, the target drone 200 can perform evasive operations such as hovering and detouring according to a preset evasive solution.

[0063] The following is combined with Figure 7 The specific process of drone collision risk identification provided by some embodiments of the present application is exemplified.

[0064] Please see attached Figure 7 , Figure 7 A flow chart of a method for identifying collision risk of unmanned aerial vehicles provided in some embodiments of the present application. It should be noted that the starting codes of the altitude code, the ring code and the arc code in the following examples all start from "1".

[0065] The above process is explained below as an example.

[0066] S610, the UAV remote identification receiver receives the location data of the target UAV in real time.

[0067] For example, the latitude and longitude data of the target drone received by the drone remote identification receiver (as a specific example of location data) is (120.15433788, 30.19274805, 118).

[0068] S620, the drone remote identification receiver rounds up the ratio of the drone altitude in the location data to the preset altitude to determine the altitude code.

[0069] For example, if the preset altitude is 10 meters, the altitude code is 118 / 10 rounded up to 12.

[0070] S630, the UAV remote identification receiver calculates the horizontal distance between the target UAV and the UAV remote identification receiver; with the UAV remote identification receiver as the center of the circle, the ratio of the horizontal distance to the preset circle spacing is rounded up to determine the circle code.

[0071] For example, the latitude and longitude data can be used to calculate that the horizontal distance between the target drone and the drone remote identification receiver (120.14081955, 30.19089336) is 1316 meters. The preset ring spacing is 100 meters, and the ring code is 1316 / 100 rounded up to 14.

[0072] S640, the UAV remote identification receiver takes the UAV remote identification receiver as the origin and calculates the relative angle of the target UAV with respect to the UAV remote identification receiver; the ratio of the relative angle to the fan-shaped layering degree is rounded up to determine the arc code.

[0073] For example, Figure 8 As shown, taking the UAV remote identification receiver as the origin O, the relative angle of the target UAV at position K relative to the UAV remote identification receiver is calculated. Figure 8 The longitude of point P in the equation is the longitude of the target drone, and the latitude is the latitude of the drone remote identification receiver. The relative angle is obtained by the inverse trigonometric function formula = arcsin (206 / 1316) = 9 degrees. Relative to the circular code 13, the above-mentioned fan-shaped layer angle is obtained. θ The formula is arccos[(1400 2 +1400 2 -100 2 ) / (2 1400 1400)], and we get θ The arc code is 9 / 4 rounded up, which is 3.

[0074] Through the altitude code, ring code and arc code obtained by the above calculation, the complete drone position code can be obtained, that is, 12-14-3.

[0075] S650, determine whether there is coded data in the code set corresponding to the drone position code, if so, execute S660 and S680, otherwise execute S660.

[0076] For example, the drone position code of the target drone is 12-14-3. It is determined from the real-time code set stored in the current system whether there is other drone code data in 12-14-3. If not, the drone position code data of the target drone is stored in the 12-14-3 code set.

[0077] S660, determine whether the distance to be evaluated between the drone position code and the code data of the adjacent drone is less than a preset distance threshold, if so, execute S680, otherwise execute S670.

[0078] For example, since the straight-line distance between two adjacent circular arcs may be less than 100 meters (as a specific example of the preset distance threshold), it is necessary to retrieve the drone position data stored in systems 11-14-3, 13-14-3, 12-14-2, 12-14-4, 12-13-3, and 12-15-3, and then traverse and calculate the distance to be evaluated between the longitude and latitude of the two drones, and compare the distance to be evaluated with 100 meters to determine whether there is a collision risk.

[0079] S670, the UAV remote identification receiver confirms that there is no collision risk with the target UAV.

[0080] S680, the UAV remote identification receiver confirms that there is a collision risk with the target UAV.

[0081] For example, in one case, if other drone data exists in the 12-14-3 code set, a collision risk has been identified, and S690 is executed. In another case, if the distance to be evaluated is less than 100 meters, there is a collision risk, and S690 is executed.

[0082] S690, the UAV remote identification receiver sends collision risk warning information to the target UAV.

[0083] For example, a drone remote identification receiver sends other drone data to a target drone (as a specific example of collision risk warning information).

[0084] S691, the target drone executes the evasion plan.

[0085] It can be understood that the specific implementation process of S610~S691 can refer to the method embodiment provided above. To avoid repetition, the detailed description is appropriately omitted here.

[0086] Through some of the above-mentioned embodiments of the present application, it can be seen that the present application pre-positions collision risk identification to the system of the drone remote identification receiver, reduces the key points in the processing chain, shortens the network communication time, avoids possible instability in network communication, and improves the accuracy and efficiency of collision risk identification.

[0087] Please refer to Fig. 9 , Fig. 9 The block diagram of the composition of the device for identifying the risk of collision of unmanned aerial vehicles provided by some embodiments of the present application is shown. It should be understood that the device for identifying the risk of collision of unmanned aerial vehicles corresponds to the above-mentioned method embodiment and can execute each step involved in the above-mentioned method embodiment. The specific functions of the device for identifying the risk of collision of unmanned aerial vehicles can be found in the description above. To avoid repetition, the detailed description is appropriately omitted here.

[0088] Fig. 9The device for identifying the risk of collision of unmanned aerial vehicles includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the device for identifying the risk of collision of unmanned aerial vehicles. The device for identifying the risk of collision of unmanned aerial vehicles is applied to a unmanned aerial vehicle remote identification receiver, including: a receiving module 810, used to receive the position data of the target unmanned aerial vehicle; an encoding module 820, used to encode the position data according to a preset encoding rule to obtain a unmanned aerial vehicle position code, wherein the unmanned aerial vehicle position code includes an altitude code, and a circular ring code and an arc code related to the distance and angle between the target unmanned aerial vehicle and the unmanned aerial vehicle remote identification receiver; a collision risk identification module 830, used to determine whether the target unmanned aerial vehicle has a collision risk by judging the relationship between the unmanned aerial vehicle position code and other unmanned aerial vehicle code data.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0090] Some embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the operations of the method corresponding to any of the above methods provided in the above embodiments.

[0091] Some embodiments of the present application further provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operations corresponding to any of the above methods provided in the above embodiments.

[0092] like Fig.10 As shown, some embodiments of the present application provide an electronic device 900, which includes: a memory 910, a processor 920, and a computer program stored in the memory 910 and executable on the processor 920, wherein the processor 920 can implement a method as described in any of the above embodiments when reading the program from the memory 910 through a bus 930 and executing the program.

[0093] Processor 920 can process digital signals and can include various computing structures, such as complex instruction set computer structure, reduced instruction set computer structure, or a structure that implements a combination of multiple instruction sets. In some examples, processor 920 can be a microprocessor.

[0094] The memory 910 may be used to store instructions executed by the processor 920 or data related to the execution of instructions. These instructions and / or data may include codes for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 920 of the disclosed embodiment may be used to execute instructions in the memory 910 to implement the method shown above. The memory 910 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memory known to those skilled in the art.

[0095] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0096] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0097] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for identifying the risk of collision of unmanned aerial vehicles, characterized in that: Applied to UAV remote identification receivers, including: Receive location data of the target UAV; Encoding the position data according to a preset encoding rule to obtain a drone position code, wherein the drone position code includes an altitude code, and a ring code and an arc code related to a distance and an angle between the target drone and the drone remote identification receiver; By judging the relationship between the position code of the drone and the code data of other drones, it is determined whether the target drone has a collision risk.

2. The method according to claim 1, characterized in that The height code is obtained by the following method: The altitude code is determined based on a ratio of the altitude of the drone in the position data to a preset altitude.

3. The method according to claim 1 or 2, characterized in that The ring code is obtained by the following method: Calculating the horizontal distance between the target UAV and the UAV remote identification receiver; Taking the UAV remote identification receiver as the center of the circle, the circular ring code is determined based on the ratio of the horizontal distance to the preset circular ring spacing.

4. The method according to claim 3, characterized in that The arc code is obtained by the following method: Taking the UAV remote identification receiver as the origin, calculating the relative angle of the target UAV with respect to the UAV remote identification receiver; The arc code is determined based on the ratio of the relative angle to the fan-shaped stratification degree.

5. The method according to claim 4, characterized in that The fan-shaped stratification degree is obtained by the following method: Obtaining the radius of the next circular ring adjacent to the circular ring corresponding to the circular ring code through the preset circular ring spacing; The fan-shaped stratification degree is calculated based on the radius of the next circular ring and the maximum distance between two points in the next circular ring.

6. The method according to any one of claims 1-2, 4-5, characterized in that: The determining whether the target drone has a collision risk by judging the relationship between the drone position code and other drone code data includes: If it is confirmed that there is other drone data with the same code in the code set corresponding to the drone position code, then there is a collision risk with the target drone.

7. The method according to claim 6, characterized in that The determining whether the target drone has a collision risk by judging the relationship between the drone position code and other drone code data includes: Analyze the position relationship between the drone position code and the adjacent drones in the adjacent code data to determine whether there is a collision risk with the target drone; Among them, the adjacent coded data include: coded data adjacent to the height code in the drone position code, coded data adjacent to the arc code in the drone position code, and coded data adjacent to the ring code in the drone position code.

8. The method according to claim 7, characterized in that The analyzing the position relationship between the drone position code and the adjacent drones in the adjacent code data to determine whether the target drone has a collision risk includes: Obtaining the position information to be evaluated corresponding to the adjacent UAV; Calculating the distance to be evaluated between the UAV to be evaluated and the target UAV based on the position information to be evaluated and the position data of the target UAV; If the distance to be evaluated is less than the preset distance threshold, it is confirmed that there is a collision risk with the target drone; If the distance to be evaluated is greater than or equal to the preset distance threshold, it is confirmed that there is no collision risk with the target drone.

9. The method according to any one of claims 1-2, 4-5, 7-8, characterized in that: When there is a risk of collision with the target UAV, collision warning information is sent to the target UAV so that the target UAV can execute an avoidance plan.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program executes the method according to any one of claims 1 to 9 when executed by a processor.

11. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program executes the method according to any one of claims 1 to 9 when being run by the processor.

12. A computer program product, characterized in that The computer program product comprises a computer program, wherein the computer program executes the method according to any one of claims 1 to 9 when executed by a processor.

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