Unmanned aerial vehicle radar switching method and system, control equipment and storage medium

Abstract

The embodiment of the invention provides an unmanned aerial vehicle radar switching method and system, a control device and a storage medium, and belongs to the field of radar detection, and the method comprises the steps: obtaining the motion state information of a target object and an unmanned aerial vehicle in a working area in a current time period in real time according to a first preset scanning rule corresponding to a preset radar model, and obtaining a target object based on the motion state information; and determining position state information of the target object and the unmanned aerial vehicle. Whether the position state information meets a preset switching condition or not is judged, if yes, the target radar model serves as a preset radar model of the next time period, the target radar model corresponds to a second preset scanning rule, and the scanning precision of the second preset scanning rule is higher than that of the first preset scanning rule. Therefore, the unmanned aerial vehicle can obtain the target object information in the environment in real time, the radar working mode with higher precision is automatically switched when the preset switching condition is met, and high-efficiency and high-precision environment perception and target detection of the unmanned aerial vehicle are at least partially realized.

Description

Technical Field

[0001] The present invention relates to the field of radar detection, and in particular to a radar switching method, system, control device and storage medium for an unmanned aerial vehicle. Background Art

[0002] Traditional radar systems have some limitations in obstacle detection applications. They cannot provide a solution that has both high-precision, high-resolution environmental perception and target tracking capabilities. 4D imaging radar has a higher resolution, but is limited by the power of a single antenna and a fixed field of view. It cannot track and continuously detect targets, and does not have the ability to detect obstacles at a longer distance in advance. Summary of the invention

[0003] The purpose of the present invention is to provide a UAV radar switching method, system, control device and storage medium to at least partially realize high-efficiency and high-precision environmental perception and target detection of UAVs, which can have broad application prospects in the fields of UAVs, autonomous driving, intelligent transportation and security monitoring.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, a method for switching a drone radar is provided, the method comprising:

[0006] The position status information of the target object in the operation area relative to the UAV in the current time period is obtained in real time using the first preset scanning rule corresponding to the preset radar model;

[0007] Determining whether the location status information satisfies a preset switching condition;

[0008] If satisfied, the target radar model is used as the preset radar model for the next period;

[0009] The target radar model corresponds to a second preset scanning rule, and the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule.

[0010] Preferably, the step of determining whether the location status information satisfies a preset switching condition comprises:

[0011] Determine whether the target object blocks the flight of the UAV in the vertical direction.

[0012] Preferably, the step of determining whether the target object blocks the flight of the drone in the vertical direction comprises:

[0013] Determine the pitch angle of the target object relative to the drone in the vertical direction;

[0014] It is determined whether the pitch angle meets a preset pitch angle threshold.

[0015] Preferably, the first preset scanning rule includes a first preset scanning state and a second preset scanning state, and the step of acquiring the position state information of the target object in the working area relative to the drone in the current period in real time according to the first preset scanning rule corresponding to the preset radar model includes:

[0016] In the current time period, if the pitch angle does not meet the preset pitch angle threshold, the first preset scanning state corresponding to the preset radar model is switched to the second preset scanning state, and the position state information of the target object in the operating area relative to the UAV is re-acquired;

[0017] The beam angle range in the first preset scanning state is greater than the beam speed angle range in the second preset scanning state.

[0018] Preferably, the step of determining whether the location status information satisfies a preset switching condition further includes:

[0019] If the target object blocks the flight of the drone in the vertical direction, determine the distance of the target object relative to the drone in the horizontal direction;

[0020] It is determined whether the distance meets a preset distance threshold.

[0021] Preferably, the step of acquiring in real time the position status information of the target object in the working area relative to the drone in the current period of time using the first preset scanning rule corresponding to the preset radar model comprises:

[0022] The motion state information of the target object and the UAV in the working area in the current period is obtained in real time by using the first preset scanning rule corresponding to the phased array radar; wherein the first preset scanning rule is to scan the working area back and forth in the horizontal direction within a preset wave speed angle range;

[0023] Based on the motion state information, the position state information of the target object relative to the drone is determined.

[0024] Preferably, the step of determining the position state information of the target object relative to the drone based on the motion state information comprises:

[0025] Based on the motion state information of the UAV, a three-dimensional coordinate system is constructed with the UAV as the origin;

[0026] Based on the three-dimensional coordinate system, the relative position parameters of the target object relative to the drone are determined in a preset direction to obtain the position state information of the target object relative to the drone.

[0027] Preferably, the step of using the target radar model as a preset radar model for the next period includes:

[0028] The second preset scanning rule corresponding to the 4D imaging radar is used to obtain the position status information of the target object relative to the drone in the next time period in real time.

[0029] In a second aspect, the present application also provides a drone radar switching system, including a control device and a radar device;

[0030] The radar device includes a preset radar model and a target radar model, which is used to obtain the motion state information of the target object and the UAV in the working area in the current period in real time according to the preset scanning rules corresponding to the radar model, and send it to the control device;

[0031] The control device is used to implement the drone radar switching method as described in any one of the first aspects above.

[0032] Preferably, the radar device includes a preset radar model and a target radar model, wherein the preset radar model corresponds to a first preset scanning rule; the target radar model corresponds to a second preset scanning rule, wherein the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule.

[0033] In a third aspect, the present application also provides a control device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the drone radar switching method as described in any one of the first aspects is implemented.

[0034] In a fourth aspect, the present application also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the drone radar switching method as described in any one of the first aspects is implemented.

[0035] The beneficial effects of the embodiments of the present invention include, for example:

[0036] A drone radar switching method, system, control device and storage medium provided by any embodiment of the present invention uses a first preset scanning rule corresponding to a preset radar model to obtain in real time the position status information of the target object in the operating area relative to the drone in the current time period. Based on the position status information, it is determined whether the preset switching condition is met. If it is met, the target radar model with higher scanning accuracy is used as the preset radar model for the next time period, so that the drone can obtain the target object information in the environment in real time, and when the preset switching condition is met, it automatically switches to a radar working mode with higher scanning accuracy, so as to partially realize the high-efficiency and high-precision environmental perception and target detection of the drone. It has broad application prospects in the fields of drones, autonomous driving, intelligent transportation and security monitoring.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention 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 creative work.

[0039] Figure 1 A block diagram of a UAV radar switching system provided by an embodiment of the present invention is shown.

[0040] Figure 2 A schematic diagram of the steps of the drone radar switching method provided by an embodiment of the present invention is shown.

[0041] Figure 3 A schematic flow chart of the sub-steps of step S101 in an embodiment of the present invention is shown.

[0042] Figure 4 A schematic flow chart of the sub-steps of step S1012 in an embodiment of the present invention is shown.

[0043] Figure 5 One of the flowchart diagrams of the sub-steps of step S102 in the embodiment of the present invention is shown.

[0044] Figure 6 The second flowchart diagram of the sub-steps of step S102 in the embodiment of the present invention is shown.

[0045] Figure 7 The third flowchart diagram of the sub-steps of step S102 in the embodiment of the present invention is shown.

[0046] Figure 8 A block diagram of a control device provided by an embodiment of the present invention is shown.

[0047] Figure numerals: 100 - UAV radar switching system; 110 - control device; 120 - radar device. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0050] It should be noted that relational terms such as "first" and "second" are used only 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.

[0051] According to the inventors' research, the conventional radar systems in the prior art have some limitations in obstacle detection applications: they cannot provide a solution with high-precision, high-resolution environmental perception and target tracking functions. For example, in the prior art, 4D imaging radars have high resolution, but are restricted by the power of a single antenna and a fixed field of view, and cannot track and continuously detect targets, and cannot detect obstacles at long distances in advance. For another example, phased array radars can achieve visual aiming and tracking of targets, but are only suitable for rapid detection and tracking of long-distance targets.

[0052] Based on the above considerations, the embodiments of the present invention provide a UAV radar switching method, system, control device and storage medium, so that the UAV can obtain information about target objects such as obstacles in the environment in real time, and automatically switch to a suitable radar working mode according to the target characteristics and requirements, so as to partially realize the high-efficiency and high-precision environment perception and target detection of the UAV. It has broad application prospects in the fields of UAV, autonomous driving, intelligent transportation and security monitoring.

[0053] In one embodiment, please refer to Figure 1 In an embodiment of the present application, a drone radar switching system 100 is provided, and the drone radar switching system 100 includes a control device 110 and a radar device 120.

[0054] The radar device 120 includes a preset radar model and a target radar model, which is used to obtain the motion status information of the target objects and the drone in the working area in the current period in real time according to the preset scanning rules corresponding to the radar model, and send it to the control device 110.

[0055] The control device 110 is used to implement the UAV radar switching method provided by the present invention.

[0056] Specifically, in an embodiment of the present application, the radar device 120 includes a preset radar model and a target radar model. The position status information of the target object in the operating area relative to the drone in the current time period is obtained in real time through the first preset scanning rule of the preset radar model, and the position status information is transmitted to the control device 110; the control device 110 determines whether the preset switching condition is met based on the position status information. If so, a control signal is sent to the radar device 120 to use the target radar model as the preset radar model for the next time period.

[0057] In a feasible embodiment, the preset radar model corresponds to the first preset scanning rule; and the target radar model corresponds to the second preset scanning rule.

[0058] Among them, the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule, so as to solve the limitations of the conventional radar system in the prior art in the application of obstacle detection, for example, due to the constraints of the single antenna power and the fixed field of view, it is impossible to track and continuously detect the target; for example, the radar system adapted for long-distance target tracking cannot accurately detect the target. On this basis, in the embodiment of the present application, by setting a plurality of radar modes with different scanning accuracies, when the preset switching conditions are met, it automatically switches to a suitable radar working mode based on the target characteristics and requirements, so as to realize the high-efficiency and high-precision environmental perception and target detection of the UAV.

[0059] In one embodiment, please refer to Figure 2 The embodiment of the present application also provides a UAV radar switching method, which can be applied to the control device 110 of the UAV radar switching system 100 provided in the above embodiment.

[0060] The UAV radar switching method comprises the following steps:

[0061] S101, obtaining in real time position status information of a target object in an operation area relative to the drone in a current period of time using a first preset scanning rule corresponding to a preset radar model.

[0062] S102, determining whether the location status information satisfies a preset switching condition, if so, executing step S103; otherwise, executing step S104.

[0063] S103: Using the target radar model as a preset radar model for the next time period, wherein the target radar model corresponds to a second preset scanning rule, and the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule.

[0064] S104. Continue to obtain the position status information of the target object and the UAV in the operation area in real time according to the current preset radar mode.

[0065] In the embodiment of the present application, in step S101 of obtaining the position status information of the target object and the drone in the operation area in the current period in real time using the first preset scanning rule corresponding to the preset radar model, reference can be made to Figure 3 Step S101 includes the following sub-steps to obtain the position status information of the target object and the UAV based on the preset radar model:

[0066] S1011, using a first preset scanning rule corresponding to the phased array radar to obtain in real time the motion state information of the target object and the UAV in the working area during the current period; wherein the first preset scanning rule is to scan the working area back and forth in the horizontal direction within a preset wave speed angle range;

[0067] S1012: Determine the position status information of the target object relative to the UAV based on the motion status information.

[0068] In this embodiment, the first preset scanning rule corresponding to the phased radar can be used to obtain in real time the movement speed and direction of the target and the drone in the working area during the current period, and the position status information of the target relative to the drone can be determined based on the motion status information.

[0069] In a feasible embodiment, the first preset scanning rule may be to scan the working area back and forth in the horizontal direction within a preset wave speed angle range.

[0070] It can be understood that in this embodiment, if the phased array radar is used as the preset radar mode, the acquisition method of the phased array radar can be used as the corresponding first preset scanning rule to obtain in real time the movement speed and direction of the target object and the drone in the working area during the current period, wherein the first preset scanning rule is to scan the working area back and forth in the horizontal direction within a preset wave speed angle range.

[0071] In a feasible embodiment, the phased-control radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction to obtain the movement speed and direction of the target object and the UAV in real time.

[0072] Since phased-control radar can usually be used when the UAV is flying at a long distance and high speed, when the flight trajectory of the UAV is preset, the phased-control radar can be used to obtain the movement speed and direction of the target object and the UAV in the operating area in the current period in real time when the UAV is flying at a long distance and high speed, providing data support for the subsequent switching of radar modes.

[0073] When the drone needs to fly at high speed, for flight safety, the drone needs to sense the environment at a longer distance. Therefore, in one embodiment, it is determined that when the drone enters the high-speed flight mode, the position status information of the target object in the working area in the current time period is obtained in real time using the scanning rules corresponding to the phased-control radar. Among them, when the drone enters the high-speed flight mode, it is determined that when the drone enters the high-speed flight mode, the position status information of the target object in the working area in the current time period is obtained in real time using the scanning rules corresponding to the phased-control radar, including: obtaining the flight trajectory of the drone, determining the high-speed flight segment of the drone according to the flight trajectory, and when the drone enters the high-speed flight segment, switching to the scanning rules corresponding to the phased-control radar to obtain the position status information of the target object in the working area in the current time period in real time. It can be understood that the high speed here means that the flight speed of the drone is greater than the set threshold.

[0074] In the embodiment of the present application, after the target object is scanned with high precision using the target radar model according to the second preset scanning rule, the drone can be controlled to avoid obstacles of the target object according to the high-precision information scanned. After the obstacle avoidance is completed, the preset radar model can be switched back to obtain the position status information of the target object in the working area in the current period in real time using the first preset scanning rule corresponding to the preset radar model.

[0075] In the embodiment of the present application, in step S102 of determining the position state information of the target object relative to the drone based on the motion state information, reference may be made to Figure 4 , step S1012 includes the following sub-steps:

[0076] A1. Based on the motion state information of the drone, a three-dimensional coordinate system is constructed with the drone as the origin;

[0077] A2. Based on the three-dimensional coordinate system, determine the relative position parameters of the target object relative to the drone in a preset direction to obtain the position state information of the target object relative to the drone.

[0078] In an embodiment of the present application, after obtaining the respective movement speeds and directions of the target object and the drone in real time, a three-dimensional rectangular coordinate system is constructed with the path points on the motion trajectory of the drone as the origin. Based on the three-dimensional rectangular coordinate system, the relative position parameters of the target object relative to the drone are determined in a preset direction, thereby determining the position status information of the target object and the drone.

[0079] In an achievable embodiment, the relative position parameters of the target object relative to the drone are determined in a preset direction according to a three-dimensional rectangular coordinate system, and the relative position parameters include a pitch angle and / or a distance. The preset direction includes a vertical direction and / or a horizontal direction.

[0080] Based on this, in an embodiment of the present application, after determining the position status information of the target object and the drone based on motion status information such as the motion speed and motion direction of the target object, in step S102 of judging whether the position status information meets the preset switching conditions, the position status information of the target object and the drone can be selected according to needs, for example, it can be identified by a visual algorithm, or it can be identified by a pre-trained motion trajectory recognition model.

[0081] In an embodiment of the present application, a flowchart for determining whether the location status information satisfies a preset switching condition is provided. Step S102 may refer to the following steps to determine whether the location status information satisfies the preset switching condition:

[0082] B1. Determine whether the target object blocks the flight of the drone in the vertical direction.

[0083] In one possible embodiment, reference may be made to Figure 5 , step B1 of determining whether the target object blocks the flight of the drone in the vertical direction can refer to the following sub-steps to determine whether the position status information meets the preset switching condition:

[0084] B11. Determine the pitch angle of the target object relative to the drone in the vertical direction.

[0085] B12. Determine whether the pitch angle meets a preset pitch angle threshold. If so, execute step S103; otherwise, execute step S104.

[0086] Specifically, it can be understood that in this embodiment, if the phased array radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction to obtain the movement speed and direction of the target objects such as obstacles and drones in real time, on this basis, a three-dimensional rectangular coordinate system can be constructed through the path points on the motion trajectory of the drone, such as the movement direction at the current moment.

[0087] The pitch angle of the target object relative to the drone at the current moment in the vertical direction is determined based on the three-dimensional rectangular coordinate system. And based on the pitch angle of the target object relative to the drone at the current moment in the vertical direction, it is determined whether the preset pitch angle threshold is met.

[0088] In an achievable embodiment, the preset pitch angle threshold may be plus or minus 15°, so that the above steps may be understood as judging in the vertical direction that the pitch angle of the target object relative to the UAV at the current moment is judged to be less than the angle range of plus or minus 15°. If it is less than, it is considered that the current target object will affect the flight trajectory of the UAV in the vertical direction, and a target radar model with higher scanning accuracy is adopted as the preset radar model for the next time period as described in step S103. Otherwise, the position status information of the target object and the UAV in the operating area is obtained in real time according to the current preset radar mode as described in step S104.

[0089] In an achievable embodiment, if in step S101 of obtaining the position status information of the target object and the drone in the working area in the current period in real time according to the first preset scanning rule corresponding to the preset radar model, the first preset scanning rule includes a first preset scanning state and a second preset scanning state, then in this embodiment, the step S101 of obtaining the position status information of the target object in the working area relative to the drone in the current period in real time according to the first preset scanning rule corresponding to the preset radar model also includes:

[0090] In the current period, if the pitch angle does not meet the preset pitch angle threshold, the first preset scanning state corresponding to the preset radar model is switched to the second preset scanning state, and the position state information of the target object in the working area relative to the UAV is re-acquired; wherein, the beam angle range in the first preset scanning state is greater than the beam speed angle range in the second preset scanning state.

[0091] It is understandable that in the embodiment of the present application, the first preset scanning state corresponding to the preset radar model can be used to obtain the position state information of the target in the working area relative to the drone in real time, and then it can be determined whether the pitch angle of the target in the vertical direction relative to the drone meets the preset pitch angle threshold. On this basis, if the pitch angle of the target in the vertical direction relative to the drone is less than the preset pitch angle threshold, then the first preset scanning state corresponding to the preset radar model can be further switched to the second preset scanning state with a smaller beam angle range to re-acquire the position state information of the target in the working area relative to the drone. Thereby, it is determined again whether the position state information meets the preset switching condition.

[0092] Combined with the phased-control radar mode as the preset radar model, it can be understood that the phased-control radar scans the operation area in the current period back and forth within the range of positive and negative 30° in the horizontal direction, obtains the movement speed and movement direction of the target and the drone in real time, and then builds a three-dimensional rectangular coordinate system with the drone as the origin, and determines the pitch angle of the target relative to the drone at the current moment in the vertical direction based on the three-dimensional rectangular coordinate system. And judge whether the pitch angle meets the preset pitch angle threshold.

[0093] If the preset pitch angle threshold can be plus or minus 15°, the preset pitch angle threshold can be used to judge whether the pitch angle of the target object relative to the drone at the current moment in the vertical direction is less than the angle range of plus or minus 15°. If it is less than, it is judged that the target object will affect the flight trajectory of the drone in the vertical direction.

[0094] Based on this, the scanning range of the phased array radar is readjusted. In a feasible embodiment, the scanning range of the phased array radar can be narrowed to plus or minus 30° in the horizontal direction. For example, the scanning range can be set to plus or minus 10° in the horizontal direction. The phased array radar with adjusted scanning range can rescan the working area in the current period within this scanning range, and re-acquire the motion status information of the targets and drones in the working area.

[0095] The adjustment of the scanning range is understandable, that is, the center direction of the beam scanning is updated each time the target object is scanned, and the scanning range is plus or minus 10° in the horizontal direction.

[0096] In another achievable embodiment, a flowchart for determining whether the location status information satisfies a preset switching condition is provided, which can be referred to Figure 6 , step S102 can refer to the following steps to determine whether the location status information meets the preset switching condition:

[0097] B1. Determine whether the target object blocks the flight of the drone in the vertical direction. If so, execute step B2; otherwise, execute step S104.

[0098] B2. Determine the distance of the target relative to the UAV in the horizontal direction;

[0099] B3. Determine whether the distance meets a preset distance threshold. If so, execute step S103; otherwise, execute step S104.

[0100] Specifically, in the embodiment of the present application, after obtaining the movement speed and movement direction of the target object and the drone in real time, a three-dimensional rectangular coordinate system is constructed with the drone as the origin. The difference between the horizontal distance of the target object and the drone at the current moment in the horizontal direction is determined based on the three-dimensional rectangular coordinate system. Based on the difference, it is determined whether the target object meets the preset horizontal safety distance relative to the drone at the current moment.

[0101] In an achievable embodiment, the preset horizontal safety distance may be 60m. Understandably, in this embodiment, it is possible to determine whether the horizontal straight-line distance of the target object relative to the drone at the current moment is less than 60m. If it is less than 60m, it is confirmed that the target object will affect the flight trajectory of the drone in the horizontal direction, and the radar mode is switched to use the target radar model with higher scanning accuracy as the preset radar model for the next period. Otherwise, the preset radar model maintains the current scanning angle to scan the operating area.

[0102] In an achievable embodiment, a flowchart for determining whether the location status information meets the preset switching condition is provided, which can be referred to Figure 7 , step S102 can refer to the following steps to determine whether the location status information meets the preset switching condition:

[0103] C1. Determine the pitch angle of the target object relative to the drone in the vertical direction.

[0104] C2. Determine whether the pitch angle meets a preset pitch angle threshold. If so, execute step C3; otherwise, execute step S104.

[0105] C3, determine the distance of the target relative to the UAV in the horizontal direction;

[0106] C4. Determine whether the distance meets a preset distance threshold. If so, execute step S103; otherwise, execute step S104.

[0107] It can be understood that in this embodiment, the phased-control radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction, obtains the movement speed and movement direction of the target and the drone in real time, and then constructs a three-dimensional rectangular coordinate system with the drone as the origin, and determines the pitch angle of the target relative to the drone at the current moment in the vertical direction based on the three-dimensional rectangular coordinate system. And judge whether the pitch angle meets the preset pitch angle threshold.

[0108] If the preset pitch angle threshold can be plus or minus 15°, it can be judged based on this preset pitch angle threshold whether the pitch angle of the target object relative to the drone at the current moment in the vertical direction is less than the angle range of plus or minus 15°. If it is less than, it is considered that the target object will affect the flight trajectory of the drone in the vertical direction. Subsequently, the difference between the horizontal distances of the target object relative to the drone in the horizontal direction is determined based on the three-dimensional rectangular coordinate system; and based on the difference between the horizontal distances, it is judged whether the target object meets the preset horizontal safety distance relative to the drone at the current moment.

[0109] Based on this preset horizontal safety distance, it is determined whether the horizontal straight-line distance of the target object relative to the drone at the current moment is less than the preset horizontal safety distance. If it is less, it is considered that the target object will affect the flight trajectory of the drone in the horizontal direction, and the radar mode is switched. Otherwise, the current phased-control radar continues to scan the operating area in the current period back and forth within the range of positive and negative 30° in the horizontal direction.

[0110] In this embodiment, if the preset pitch angle threshold is within the angle range of plus or minus 15°, then it can be determined whether the pitch angle of the target object relative to the drone at the current moment in the vertical direction is less than the angle range of plus or minus 15°. If it is less, it is determined that the target object will affect the flight trajectory of the drone in the vertical direction. Then, the distance of the target object relative to the drone in the horizontal direction is determined, and it is determined whether the distance of the target object relative to the drone in the horizontal direction is less than the preset distance threshold. In a feasible embodiment, the preset distance threshold may be 60m. If the distance of the target object relative to the drone in the horizontal direction is less than 60m, the radar mode is switched, and the target radar mode is used as the preset radar model for the next time period.

[0111] In another feasible embodiment, based on a preset pitch angle threshold, it is judged whether the pitch angle of the target object relative to the UAV at the current moment is less than the angle range of plus or minus 15° in the vertical direction. If it is less than, it is judged that the target object will affect the flight trajectory of the UAV in the vertical direction, and the scanning range of the phased-control radar is adjusted accordingly. The scanning range of the phased-control radar in the horizontal direction can be narrowed to plus or minus 30°. For example, the scanning range can be set to plus or minus 10° in the horizontal direction. The phased-control radar with adjusted scanning range is used to rescan the working area in the current time period based on this scanning range, and the motion status information of the target object and the UAV in the working area is re-acquired.

[0112] Then, based on the re-acquired movement speed and movement direction of the target object and the UAV, a three-dimensional rectangular coordinate system with the UAV as the origin is reconstructed, and the difference between the horizontal distances of the target object relative to the UAV in the horizontal direction is determined based on the three-dimensional rectangular coordinate system; and based on the difference between the horizontal distances, it is judged whether the target object meets the preset horizontal safety distance relative to the UAV at the current moment. If the horizontal distance is less than the preset horizontal safety distance, it is considered that the target object will affect the flight trajectory of the UAV in the horizontal direction, and the radar mode is switched. Otherwise, the current phased radar is maintained in a state of scanning the operating area in the current period back and forth within the range of positive and negative 10° in the horizontal direction. Based on this embodiment, the high-efficiency and high-precision environmental perception and target detection of the UAV can be further improved.

[0113] The present application can set up a variety of radar modes with different scanning accuracies, and judge whether the preset switching conditions are met, such as judging whether the flight trajectory of the drone is affected based on relative position parameters including pitch angle and / or distance. If met, switch to the target radar mode, and use the target radar mode as the preset radar mode for the next time period. It can be understood that based on the motion characteristics of the current target object such as an obstacle, it automatically switches to a suitable radar working mode to partially realize high-efficiency and high-precision environmental perception and target detection of the drone.

[0114] In a feasible embodiment, if phased-control radar is used as the preset radar model, the target radar model can be selected as a 4D imaging radar. Based on this, the second preset scanning rule corresponding to the 4D imaging radar can be used to obtain the motion status information of the target object and the drone in the next time period in real time.

[0115] In summary, the embodiment of the present application proposes a radar switching method for a drone, which uses the first preset scanning rule corresponding to the preset radar model to obtain the position status information of the target object in the operating area relative to the drone in the current time period in real time. Based on the position status information, it is judged whether the preset switching condition is met. If it is met, the target radar model with higher scanning accuracy is used as the preset radar model for the next time period, so that the drone can obtain the target object information in the environment in real time, and when the preset switching condition is met, it automatically switches to a radar working mode with higher scanning accuracy, so as to partially realize the high-efficiency and high-precision environmental perception and target detection of the drone. It has broad application prospects in the fields of drones, autonomous driving, intelligent transportation, and security monitoring.

[0116] In an achievable embodiment, the present application document further provides a control device 110, including a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program: obtaining the position status information of the target object in the working area relative to the drone in the current period in real time according to the first preset scanning rule corresponding to the preset radar model. Based on the position status information, it is determined whether the preset switching condition is met, and if so, the target radar model with higher scanning accuracy is used as the preset radar model for the next period.

[0117] In an achievable embodiment, the internal structure of the control device 110 may be as follows: Figure 8As shown. The control device 110 includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the control device 110 is used to provide computing and control capabilities. The memory of the control device 110 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the control device 110 is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for switching a drone radar is implemented. The display screen of the control device 110 can be a liquid crystal display screen or an electronic ink display screen, and the input device of the control device 110 can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the housing of the control device 110, or an external keyboard, touchpad or mouse.

[0118] Understandably, Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the control device 110 to which the solution of the present invention is applied. The specific control device 110 may include Figure 8 More or fewer components may be shown, or certain components may be combined, or may have a different arrangement of components.

[0119] In summary, the control device 110 provided in the embodiment of the present application can enable the drone to obtain obstacle information in the environment in real time, and automatically switch to a more accurate radar according to target characteristics and requirements, so as to at least partially realize the drone's high-efficiency and high-precision environmental perception and target detection.

[0120] In another embodiment, the embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: the motion state information of the target object and the drone in the working area in the current period is obtained in real time using the first preset scanning rule corresponding to the preset radar model. Based on the motion state information, the position state information of the target object and the drone is determined. It is determined whether the position state information meets the preset switching condition; if so, the target radar model with higher scanning accuracy is used as the preset radar model for the next period.

[0121] In summary, the storage medium provided in the embodiment of the present application can enable the drone to obtain obstacle information in the environment in real time, and automatically switch to the most suitable radar working mode according to the target characteristics and requirements, thereby realizing high-efficiency and high-precision environmental perception and target detection of the drone.

[0122] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0124] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0125] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention. The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A method for switching a drone radar, characterized in that: The method comprises: The position status information of the target object in the operation area relative to the UAV in the current time period is obtained in real time using the first preset scanning rule corresponding to the preset radar model; Determining whether the location status information satisfies a preset switching condition; If satisfied, the target radar model is used as the preset radar model for the next period; The target radar model corresponds to a second preset scanning rule, and the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule.

2. The drone radar switching method according to claim 1, characterized in that: The step of determining whether the location status information meets a preset switching condition comprises: Determine whether the target object blocks the flight of the UAV in the vertical direction.

3. The drone radar switching method according to claim 2, characterized in that: The step of determining whether the target object blocks the flight of the drone in the vertical direction comprises: Determine the pitch angle of the target relative to the drone in the vertical direction; It is determined whether the pitch angle meets a preset pitch angle threshold.

4. The UAV radar switching method according to claim 3, characterized in that: The first preset scanning rule includes a first preset scanning state and a second preset scanning state. The step of obtaining the position state information of the target object in the working area relative to the drone in the current period in real time according to the first preset scanning rule corresponding to the preset radar model includes: In the current time period, if the pitch angle does not meet the preset pitch angle threshold, the first preset scanning state corresponding to the preset radar model is switched to the second preset scanning state, and the position state information of the target object in the operating area relative to the UAV is re-acquired; The beam angle range in the first preset scanning state is greater than the beam speed angle range in the second preset scanning state.

5. The drone radar switching method according to claim 2, characterized in that: The step of determining whether the location status information meets the preset switching condition also includes: If the target object blocks the flight of the drone in the vertical direction, determine the distance of the target object relative to the drone in the horizontal direction; It is determined whether the distance meets a preset distance threshold.

6. The drone radar switching method according to claim 1, characterized in that: The step of obtaining the position status information of the target object in the working area relative to the drone in the current period in real time using the first preset scanning rule corresponding to the preset radar model includes: The motion state information of the target object and the UAV in the working area in the current period is obtained in real time by using the first preset scanning rule corresponding to the phased array radar; wherein the first preset scanning rule is to scan the working area back and forth in the horizontal direction within a preset wave speed angle range; Based on the motion state information, the position state information of the target object relative to the drone is determined.

7. The UAV radar switching method according to claim 6, characterized in that: The step of determining the position state information of the target object relative to the drone based on the motion state information comprises: Based on the motion state information of the UAV, a three-dimensional coordinate system is constructed with the UAV as the origin; Based on the three-dimensional coordinate system, the relative position parameters of the target object relative to the drone are determined in a preset direction to obtain the position state information of the target object relative to the drone.

8. The drone radar switching method according to claim 1, characterized in that: The step of using the target radar model as the preset radar model for the next period includes: The second preset scanning rule corresponding to the 4D imaging radar is used to obtain the position status information of the target object relative to the drone in the next time period in real time.

9. A UAV radar switching system, characterized in that: Including control equipment and radar equipment; The radar device includes a preset radar model and a target radar model, which is used to obtain the motion state information of the target object and the UAV in the working area in the current period in real time according to the preset scanning rules corresponding to the radar model, and send it to the control device; The control device is used to implement the UAV radar switching method as described in any one of claims 1 to 8.

10. The UAV radar switching system according to claim 9, characterized in that: The radar device includes a preset radar model and a target radar model, wherein the preset radar model corresponds to a first preset scanning rule; the target radar model corresponds to a second preset scanning rule, wherein the scanning accuracy of the second preset scanning rule is higher than that of the first preset scanning rule.

11. A control device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the drone radar switching method as described in any one of claims 1 to 8 is implemented.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the drone radar switching method according to any one of claims 1 to 8 is implemented.

Images