Method, storage medium, electronic device and product for identifying collision risk of unmanned aerial vehicle

Abstract

This application relates to the field of unmanned aerial vehicle (UAV) control technology, and specifically provides a method, a storage medium, an electronic device, and a product for identifying the collision risk of a UAV. The method may include: receiving the position data of a target UAV; encoding the position data according to a preset encoding rule to obtain a UAV position code, where the UAV position code includes a height code, as well as a circular ring code and an arc code related to the distance and angle between the target UAV and a UAV remote identification receiver; determining whether there is a collision risk for the target UAV by judging the relationship between the UAV position code and the code data of other UAVs. Some embodiments of this application can accurately identify whether there is a collision risk for a UAV, ensuring the flight safety of the UAV.

Description

Technical Field

[0001] This application relates to the field of UAV control technology. Specifically, it relates to a method, storage medium, electronic device and product for identifying the collision risk of UAVs. Background Art

[0002] With the continuous development of UAV technology, UAVs are widely used in various fields to perform related tasks. According to relevant specification requirements, UAVs need to have the ability to broadcast their positions via Wifi beacons or Bluetooth. The airspace management party installs a certain number of UAV remote identification receivers on the tops of buildings within the airspace to receive the position data broadcast by UAVs.

[0003] Currently, in order to effectively identify the collision risk of UAVs, the UAV remote identification receiver can receive the position data broadcast by the UAV, and then send the position data to the backend server to determine whether there is a collision risk; in case of a risk, the UAV operation enterprise will perform flight control management on the UAV. It can be seen that the current link for identifying the collision risk of UAVs is relatively long and mainly relies on the judgment of the backend server; however, the transmission of data is affected by various factors, and the backend server may not be able to obtain the position data of the UAV in a timely manner, 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 the collision risk of UAVs has become an urgent technical problem to be solved. Summary of the Invention

[0005] Some embodiments of this application aim to provide a method, storage medium, electronic device and product for identifying the collision risk of UAVs. Through the technical solutions of the embodiments of this application, the accuracy and efficiency of identifying the collision risk of UAVs can be improved, and the flight safety of UAVs in the airspace can be ensured.

[0006] In a first aspect, some embodiments of this application provide a method for identifying the collision risk of UAVs, which is applied to a UAV remote identification receiver and includes: receiving the position data of a target UAV; encoding the position data according to a preset encoding rule to obtain a UAV position encoding, where the UAV position encoding includes a height encoding, and a circular encoding and an arc encoding related to the distance and angle between the target UAV and the UAV remote identification receiver; determining whether there is a collision risk for the target UAV by judging the relationship between the UAV position encoding and the encoding data of other UAVs.

[0007] In some embodiments of the present application, the position data of the target unmanned aerial vehicle (UAV) is encoded according to a preset encoding rule to obtain a UAV position code, and then it is determined whether the target UAV has a collision risk by judging whether there is other UAV coding data in the corresponding coding set. In some embodiments of the present application, through the method of position coding, the accuracy and efficiency of UAV collision risk identification can be improved, and the flight safety of UAVs in the airspace can be ensured.

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

[0009] In some embodiments of the present application, the altitude code is determined by the ratio of the altitude of the target UAV to the preset altitude, realizing effective coding of the altitude of the target UAV and providing a basis for subsequent collision risk identification.

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

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

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

[0013] In some embodiments of the present application, the arc code is determined by the relative angle of the target UAV and the sector stratification degree, providing a basis for subsequent collision risk identification.

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

[0015] In some embodiments of the present application, through the preset circular ring spacing and the maximum value of the distance between two points on the circular ring, an effective sector stratification degree is determined, and the arc coding of the target UAV can be realized within a safe range.

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

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

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

[0019] In some embodiments, analyzing the positional relationship between the UAV position code and adjacent UAVs in the adjacent code data to determine whether there is a collision risk for the target UAV 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 a preset distance threshold, then confirm that there is a collision risk for the target UAV; if the distance to be evaluated is greater than or equal to the preset distance threshold, then confirm that there is no collision risk for the target UAV.

[0020] Some embodiments of the present application can accurately identify whether there is a collision risk for the target UAV by calculating and analyzing the extracted position information to be evaluated and the position data of the target UAV, and the identification efficiency is relatively high.

[0021] In some embodiments, when there is a collision risk for the target UAV, a collision warning message is sent to the target UAV so that the target UAV can execute an avoidance plan.

[0022] Some embodiments of the present application can enable the UAV to execute an avoidance plan by sending a collision warning message to the target UAV, avoid collisions, and improve flight safety.

[0023] In a second aspect, some embodiments of the present application provide a device for identifying the collision risk of drones, including: applied to a drone remote identification receiver, including: a receiving module, configured to receive the position data of a target drone; an encoding module, configured to encode the position data according to a preset encoding rule to obtain a drone position encoding, where the drone position encoding includes a height encoding, and a circular encoding and an arc encoding related to the distance and angle between the target drone and the drone remote identification receiver; a collision risk identification module, configured to determine whether there is a collision risk for the target drone by judging the relationship between the drone position encoding and the encoding data of other drones.

[0024] In a third aspect, some embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in any one of the embodiments of the first aspect can be implemented.

[0025] In a fourth aspect, some embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the method described in any one of the embodiments of the first aspect can be implemented.

[0026] In a fifth aspect, some embodiments of the present application provide a computer program product, where the computer program product includes a computer program, and when the computer program is executed by a processor, the method described in any one of the embodiments of the first aspect can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the technical solutions of some embodiments of the present application, the following will briefly introduce the drawings required to be used in some embodiments of the present application. 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 those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 System diagram of drone collision risk identification provided by some embodiments of the present application;

[0029] Figure 2 One of the method flowcharts of drone collision risk identification provided by some embodiments of the present application;

[0030] Figure 3 Schematic diagram of height hierarchical encoding provided by some embodiments of the present application;

[0031] Figure 4 Structural diagram of circular ring hierarchical encoding provided by some embodiments of the present application;

[0032] Figure 5 Schematic diagram for calculating the fan-shaped stratification degree provided for some embodiments of the present application;

[0033] Figure 6 Inference schematic diagram for the position coding of the unmanned aerial vehicle provided for some embodiments of the present application;

[0034] Figure 7 Flowchart II of the method for identifying the collision risk of an unmanned aerial vehicle provided for some embodiments of the present application;

[0035] Figure 8 Schematic diagram of the relative angle of the target unmanned aerial vehicle provided for some embodiments of the present application;

[0036] Figure 9 Block diagram of the device for identifying the collision risk of an unmanned aerial vehicle provided for some embodiments of the present application;

[0037] Figure 10 Schematic diagram of an electronic device provided for some embodiments of the present application. Detailed implementation manners

[0038] Next, the technical solutions in some embodiments of the present application will be described with reference to the accompanying drawings in some embodiments of the present application.

[0039] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, 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 the present application, the terms "first", "second", etc. are only used for differential description and cannot be construed as indicating or implying relative importance.

[0040] In the related art, the process of identifying and handling the collision risk of an unmanned aerial vehicle includes: the unmanned aerial vehicle remote identification receiver receives the position data broadcast by the unmanned aerial vehicle, and then forwards the received position data to the backend server through 4G or an Internet network cable; the backend server integrates the received unmanned aerial vehicle position data, calculates the distance between the unmanned aerial vehicles, and determines whether there is a collision risk. For example, if the backend server identifies a collision risk within the current airspace range, it generates a work order for the collision risk and notifies the corresponding operation enterprise of the unmanned aerial vehicle in a timely manner. After receiving the collision risk, the unmanned aerial vehicle operation enterprise sends an intervention instruction to the unmanned aerial vehicle flight control (for example, a hover or detour operation instruction). It can be seen that the overall link of the current unmanned aerial vehicle collision risk identification is relatively long, involving more steps, and its core point lies in the link where the unmanned aerial vehicle remote identification receiver forwards the unmanned aerial vehicle position data. Once there is network jitter or a fault, the position data cannot be normally forwarded to the backend server, and the timely identification of the unmanned aerial vehicle collision risk cannot be achieved, seriously affecting the safety of unmanned aerial vehicle flight in the airspace.

[0041] In view of this, some embodiments of the present application provide a method for identifying the collision risk of unmanned aerial vehicles (UAVs). After receiving the position data of the target UAV, the UAV remote identification receiver in this method can encode it to obtain the UAV position code. Then, it is determined whether there is other UAV coding data in the coding set corresponding to the UAV position code, and thus it can be identified whether the target UAV has a collision risk. The UAV remote identification receiver in the embodiments of the present application can accurately identify the collision risk of the target UAV, reduce the link length, improve the identification efficiency, and is beneficial to ensuring the flight safety of UAVs in the airspace.

[0042] The following Figure 1 exemplarily elaborates on the overall composition structure of the UAV collision risk identification system provided by some embodiments of the present application.

[0043] As Figure 1 shown, some embodiments of the present application provide a UAV collision risk identification system, which may include a UAV remote identification receiver 100 and a target UAV 200. Among them, the UAV remote identification receiver 100 and the target UAV 200 can communicate bidirectionally. After receiving the position data of the target UAV 200, the UAV remote identification receiver 100 can calculate in real time whether the target UAV 200 has a collision risk and immediately transmit the collision risk warning information to the target UAV 200. The target UAV 200 can execute avoidance schemes such as hovering or detouring through the collision risk warning information to avoid collisions.

[0044] In some embodiments of the present application, the UAV remote identification receiver 100 can receive the position data of multiple UAVs and conduct real-time assessment of whether there is a collision risk for multiple UAVs. The embodiments of the present application are not limited to the target UAV 200.

[0045] The following Figure 2 exemplarily elaborates on the implementation process of the UAV collision risk identification executed by the UAV remote identification receiver 100 provided by some embodiments of the present application.

[0046] Please refer to the Figure 2 , Figure 2 which is a flowchart of a method for identifying the collision risk of UAVs provided by some embodiments of the present application. The method for identifying the collision risk of UAVs may include:

[0047] S210, receiving the position data of the target UAV.

[0048] 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).

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Among them, the value of the preset height can be flexibly set according to the actual application scenario, and the embodiments of the present application do not make specific limitations here.

[0054] In some embodiments of the present application, S220 may include: calculating the horizontal distance between the target UAV and the UAV remote identification receiver; using the UAV remote identification receiver as the center of a circle, and determining the circular encoding based on the ratio of the horizontal distance to the preset circular ring spacing.

[0055] For example, in some embodiments of the present application, circular ring hierarchical encoding is performed on the target UAV 200 to determine the circular ring encoding of the target UAV 200. Specifically, first, the horizontal distance between the target UAV 200 and the UAV remote identification receiver 100 on the two-dimensional horizontal plane is calculated through longitude and latitude information. Taking the position of the UAV remote identification receiver 100 as the center point, and using the preset circular ring spacing as one layer, the horizontal distance between the two is divided into the Figure 4 shown circular ring hierarchical encoding structure diagram (the solid black dot in the figure is the UAV remote identification receiver 100). Among them, the preset circular ring spacing can be 100 meters, which represents the minimum safety distance for UAV collision risk identification, that is, there is a collision risk within 100 meters. In one embodiment, the circular ring encoding starts from "0", and at this time, the ratio of the horizontal distance / 100 is rounded down to obtain the circular ring encoding. For example, the horizontal distance between the target UAV 200 and the UAV remote identification receiver 100 is 988 meters, and 988 / 100 rounded down gives a circular ring encoding of 9. In another embodiment, the circular ring encoding starts from "1", and at this time, the ratio of the horizontal distance / 100 is rounded up to obtain the circular ring encoding. For example, the horizontal distance between the target UAV 200 and the UAV remote identification receiver 100 is 988 meters, and 988 / 100 rounded up gives a circular ring encoding 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 thereto.

[0056] Among them, the value of the preset circular ring spacing can be flexibly set according to the actual application scenario, and the embodiments of the present application do not make specific limitations here.

[0057] Next, arc encoding is performed on the target UAV 200 (determining the range of the sector in the circular ring where the target UAV 200 is located). Before performing arc encoding, in some embodiments of the present application, through the preset circular ring spacing, the radius of the next circular ring adjacent to the circular ring corresponding to the circular ring encoding is obtained; 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 hierarchical degree is calculated.

[0058] For example, in some embodiments of the present application, when performing circular arc coding on the target UAV 200, it is necessary to perform fan-shaped ring hierarchical coding on the circular ring, that is, equally divide the circular ring in the previous step according to fan-shaped rings. First, determine two points on the next circular ring of the circular ring coding where the target UAV 200 is currently located that satisfy the maximum distance between two points, that is, Figure 5 the two endpoints of the line segment with a length of a shown. Then determine the radius of the next circular ring (that is, Figure 5 the line segments b and c in, and the length of the radius is the product of the circular ring coding and the preset circular ring spacing). By the inverse trigonometric function evaluation formula: , calculate the Figure 5 included angle in. This is the fan-shaped hierarchical degree. Among them, the value of the maximum distance between two points can be 100 meters, that is, the safe distance between two UAVs without the risk of collision.

[0059] 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; determining the circular arc coding based on the ratio of the relative angle to the fan-shaped hierarchical degree.

[0060] For example, in some embodiments of the present application, taking the UAV remote identification receiver 100 as the origin, with the due east direction being 0 degrees and the due north direction being 90 degrees, obtain the relative angle of the target UAV 200 relative to the origin; take the ratio of the relative angle / and round it up or down to obtain the fan-shaped ring coding (as a specific example of the circular arc coding). Similarly, when rounding up the ratio of the relative angle / , the fan-shaped ring coding starts from "1"; when rounding down the ratio of the relative angle / , the fan-shaped ring coding starts from "0". It should be understood that the embodiments of the present application are not limited thereto.

[0061] In another scenario, the circular ring coding starts from "1". If the current circular ring coding is 1, that is, the distance between the target UAV 200 and the UAV remote identification receiver 100 is 0 to 100 meters, at this time there is only one circle and no circular ring. In the circle, the maximum distance between two points on the circle in each sector is the distance between two points on the circle, then is 60 degrees.

[0062] After the above-mentioned encoding process for the altitude layer, circular ring layer, and sector ring layer of the target UAV 200, in the airspace within a radius of 5 km (5 km is the maximum range where the UAV remote identification receiver 100 can currently receive signals) centered on the UAV remote identification receiver 100, the sector ring or sector area where the target UAV 200 is located can be obtained. The distance between UAVs in the same encoding area is less than 100 meters. Taking the encoding method starting with "1" for both the altitude layer, circular ring layer, and sector ring layer as an example, the inference table of the specific UAV position encoding (abbreviated as position encoding) is as follows Figure 6 as shown. Figure 6 In Figure 6 , the altitude encoding of the altitude layer is 1, which represents the altitude range of the UAV from 0 to 10 meters. The circular ring encoding of the circular ring layer includes 1 and 2. Among them, encoding 1 represents a circle in the range of 0 to 100 meters, and encoding 2 represents a circular ring in the range of 100 to 200 meters. The sector ring layer divides the 360 degrees of the circle into multiple sector ring encodings according to the sector angles (60 degrees and 30 degrees).

[0063] S230. By judging the relationship between the UAV position encoding and the encoding data of other UAVs, it is determined whether there is a collision risk for the target UAV. Among them, the encoding data of other UAVs may include: encoding data identical to the UAV position encoding, encoding data adjacent to the arc encoding in the UAV position encoding, and encoding data adjacent to the circular ring encoding in the UAV position encoding.

[0064] For example, in some embodiments of the present application, by analyzing the situation between the unmanned encoding data and the encoding data of other UAVs, it can be determined whether there is a collision risk for the target UAV 200.

[0065] In some embodiments of the present application, S230 may include: if it is confirmed that there is other UAV data with the same encoding in the encoding set corresponding to the UAV position encoding, then there is a collision risk for the target UAV.

[0066] For example, in some embodiments of the present application, each UAV position encoding corresponds to an encoding set. If there is position encoding data identical to the target UAV 200 in this encoding set, it indicates that there is a collision risk between these two UAVs. If there is no other UAV data in the encoding set corresponding to the UAV position encoding, it indicates that only the current target UAV 200 exists in this position encoding and there is no collision risk. At this time, the UAV position encoding of the target UAV 200 is stored in the encoding set.

[0067] In some other embodiments of the present application, S230 may include: analyzing the positional relationship between the UAV position encoding and the adjacent UAVs in the adjacent encoding data to determine whether there is a collision risk for the target UAV; wherein, the adjacent encoding data includes: encoding data adjacent to the altitude encoding in the UAV position encoding, encoding data adjacent to the arc encoding in the UAV position encoding, and encoding data adjacent to the circular ring encoding in the UAV position encoding.

[0068] For example, in some other embodiments of the present application, due to two adjacent arc rings, there may be a situation where the straight-line distance between UAVs is less than the safety threshold of 100 meters (as a specific example of the preset distance threshold). Therefore, it is necessary to further evaluate whether there is a collision risk between the adjacent UAVs and the target UAV 200. For example, if the UAV position encoding of the target UAV 200 is 11-13-12, the adjacent encoding data includes: 10-13-12, 12-13-12, 11-13-11, 11-13-13, 11-12-12, and 11-14-12. These adjacent encoding data are stored in their respective encoding sets, and one encoding data corresponds to one UAV. It can be understood that in actual applications, according to the real-time flight situation of the UAV, some or all of the above adjacent encoding data may exist, or none of them may exist. The embodiments of the present application only illustrate which adjacent UAVs need to be identified for collision risk, so all adjacent situations are listed, which does not belong to the specific limitation of the embodiments of the present application.

[0069] In some other embodiments of the present application, S230 may include: 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 for the target UAV; 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 for the target UAV.

[0070] For example, in some embodiments of the present application, when it is confirmed that there are adjacent UAVs for the target UAV 200, the position information to be evaluated of the adjacent UAVs is taken out from the corresponding encoding set. The distance to be evaluated between the target UAV 200 and the adjacent UAVs is calculated through the longitude and latitude information of the UAVs. 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.

[0071] In some embodiments of the present application, when there is a collision risk for the target UAV, a collision warning message is sent to the target UAV so that the target UAV can execute an avoidance plan.

[0072] For example, in some embodiments of the present application, if there is a collision risk for the target UAV 200, the remote identification receiver 100 will send the position information of adjacent UAVs (as a specific example of the collision warning information) to the target UAV 200. After receiving the position information of the adjacent UAVs, the target UAV 200 can perform avoidance operations such as hovering and detouring according to the preset avoidance scheme.

[0073] The following Figure 7 exemplarily elaborates on the specific process of UAV collision risk identification provided by some embodiments of the present application.

[0074] Please refer to the Figure 7 , Figure 7 which is a flowchart of a method for UAV collision risk identification provided by some embodiments of the present application. It should be noted that the starting codes of the altitude encoding, circular ring encoding, and circular arc encoding in the following examples all start from "1".

[0075] The above process is exemplarily elaborated below.

[0076] S610, the UAV remote identification receiver continuously receives the position data of the target UAV.

[0077] For example, the latitude and longitude data (as a specific example of the position data) of the target UAV received by the UAV remote identification receiver is (120.15433788, 30.19274805, 118).

[0078] S620, the UAV remote identification receiver rounds up the ratio of the altitude of the UAV in the position data to the preset altitude to determine the altitude encoding.

[0079] For example, if the preset altitude is 10 meters, the altitude encoding is the result of rounding up 118 / 10, which is 12.

[0080] 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, rounds up the ratio of the horizontal distance to the preset circular ring spacing to determine the circular ring encoding.

[0081] For example, through the latitude and longitude data, it can be calculated that the horizontal distance between the target UAV and the UAV remote identification receiver (120.14081955, 30.19089336) is 1316 meters. The preset circular ring spacing is 100 meters, and the circular ring encoding is the result of rounding up 1316 / 100, which is 14.

[0082] S640. The UAV remote identification receiver takes itself as the origin and calculates the relative angle of the target UAV with respect to the UAV remote identification receiver. Round up the ratio of the relative angle to the fan-shaped stratification degree to determine the arc code.

[0083] For example, as Figure 8 shown, taking the UAV remote identification receiver as the origin O, calculate the relative angle of the target UAV at position K with respect to the UAV remote identification receiver. Figure 8 The longitude of point P in θ is the longitude of the target UAV, and the latitude is the latitude of the UAV remote identification receiver. Through the inverse trigonometric function calculation formula, the relative angle = arcsin(206 / 1316) = 9 degrees. With respect to the circular ring code 13, using the above formula for obtaining the fan-shaped stratification angle 2 +1400 2 -100 2 ) / (2 1400 1400), the obtained θ is 4 degrees. The arc code is then the ceiling of 9 / 4, resulting in an arc code of 3.

[0084] Through the altitude code, circular ring code, and arc code obtained from the above calculations, a complete UAV position code can be obtained, that is, 12 - 14 - 3.

[0085] S650. Determine whether there is coding data in the coding set corresponding to the UAV position code. If so, execute S660 and S680; otherwise, execute S660.

[0086] For example, the UAV position code of the target UAV is 12 - 14 - 3. Determine whether there is other UAV coding data for 12 - 14 - 3 from the real - time coding set stored in the current system. If not, store the UAV position coding data of the target UAV into the 12 - 14 - 3 coding set.

[0087] S660. Determine whether the to - be - evaluated distance between the UAV position code and the coding data of adjacent UAVs is less than the preset distance threshold. If so, execute S680; otherwise, execute S670.

[0088] For example, since the straight-line distance between two adjacent circular arcs may also be less than 100 meters (a specific example of the preset distance threshold), it is necessary to extract the UAV position data stored in systems 11-14-3, 13-14-3, 12-14-2, 12-14-4, 12-13-3, and 12-15-3. Then, by traversing and calculating the distance to be evaluated between the latitudes and longitudes of two UAVs, compare the distance to be evaluated with 100 meters to determine whether there is a collision risk.

[0089] S670, the UAV remote identification receiver confirms that there is no collision risk for the target UAV.

[0090] S680, the UAV remote identification receiver confirms that there is a collision risk for the target UAV.

[0091] For example, in one case, if there is other UAV data in the 12-14-3 coding 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.

[0092] S690, the UAV remote identification receiver sends a collision risk warning message to the target UAV.

[0093] For example, the UAV remote identification receiver sends other UAV data (a specific example of the collision risk warning message) to the target UAV.

[0094] S691, the target UAV executes an avoidance plan.

[0095] It can be understood that the specific implementation process of S610~S691 can refer to the method embodiments provided above. To avoid repetition, the detailed description is appropriately omitted here.

[0096] From some embodiments of the present application described above, it can be seen that the present application pre-positions the collision risk identification on the system of the UAV remote identification receiver, reduces the key points on the processing chain, shortens the network communication duration, avoids possible unstable situations in network communication, and improves the accuracy and efficiency of collision risk identification.

[0097] Please refer to Figure 9 , Figure 9 shows a block diagram of the composition of the UAV collision risk identification device provided by some embodiments of the present application. It should be understood that this UAV collision risk identification device corresponds to the above method embodiments and can execute each step involved in the above method embodiments. The specific functions of this UAV collision risk identification device can be seen in the above description. To avoid repetition, the detailed description is appropriately omitted here.

[0098] Figure 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] like Figure 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.

[0103] 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.

[0104] The memory 910 can be used to store instructions executed by the processor 920 or data related to the instruction execution process. These instructions and / or data can include code for implementing some or all of the functions of one or more modules described in the embodiments of the present application. The processor 920 of the embodiments of the present disclosure can be used to execute the instructions in the memory 910 to implement the method shown above. The memory 910 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0105] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0106] As mentioned above, the above are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0107] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

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; The position data is encoded according to a preset coding rule to obtain a drone position code, wherein the drone position 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; the preset coding rule includes altitude layered coding, circular ring layered coding and fan ring layered coding; the altitude layered coding is based on a preset altitude as a layer of coding; the circular ring layered coding is based on a preset circular ring spacing as a layer of coding; the fan ring layered coding is based on a fan-shaped layered degree as a layer of coding; the fan-shaped layered degree is obtained by the safe distance between the next circular ring where the target drone is located and the circular ring code without a collision risk, the two end points on the next circular ring and the radius of the next circular ring; By judging the relationship between the UAV position code and other UAV code data, it is determined whether the target UAV has a collision risk; the other UAV code data include: data that is the same as the UAV code data and adjacent code data, and the adjacent code data include: code data that is adjacent to the height code in the UAV position code, code data that is adjacent to the arc code in the UAV position code, and code data that is adjacent to the ring code in the UAV position code.

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: The position relationship between the drone position code and the adjacent drones in the adjacent code data is analyzed to determine whether there is a collision risk with the target drone.

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.

Images