Unmanned aerial vehicle control method and system, unmanned aerial vehicle and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle control method and system, an unmanned aerial vehicle and a storage medium, and the method comprises the steps: transmitting a detection signal to a target direction of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle flies normally; in response to the detection signal touching an obstacle, receiving the detection signal reflected to the unmanned aerial vehicle; determining the actual distance from the unmanned aerial vehicle to the obstacle based on the reflection time of the received detection signal; and changing the flight direction of the unmanned aerial vehicle in response to the actual distance smaller than the preset distance. The obstacle around the unmanned aerial vehicle is detected by transmitting the detection signal to the target direction of the unmanned aerial vehicle, and the flight direction of the unmanned aerial vehicle is changed according to the actual distance from the unmanned aerial vehicle to the obstacle, so that the perception ability of the unmanned aerial vehicle to the surrounding environment is remarkably improved, collision with the obstacle is effectively avoided, and the safety of the unmanned aerial vehicle is improved. The flight safety and reliability of the unmanned aerial vehicle are improved, and the accident rate is reduced.

Description

Technical Field

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

[0002] During the flight of a drone, it may collide with various obstacles, such as fast-moving birds, suspended objects, or objects falling from the air. If the drone cannot effectively avoid obstacles in the air, the collision between the drone and the obstacle may cause the drone to malfunction or even crash directly, resulting in the loss of data collected by the drone. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a control method for a drone, which effectively solves the technical problem of low safety of drone flight.

[0004] The above technical problems are solved by the following technical solutions:

[0005] A method for controlling a drone, the method comprising:

[0006] When the UAV is flying normally, transmitting a detection signal in the target direction of the UAV;

[0007] In response to the detection signal touching an obstacle, receiving the detection signal reflected to the drone;

[0008] Determine the actual distance from the drone to the obstacle based on the reflection time of the received detection signal;

[0009] In response to the actual distance being less than a preset distance, the flight direction of the drone is changed.

[0010] Compared with the background technology, the control method of the present invention has the following beneficial effects: in the normal flight process of the drone, in order to perceive the environment around the drone, a detection signal will be emitted to the target direction of the drone to check whether there is an obstacle in the target direction of the drone. When the emitted detection signal hits an obstacle, part of the detection signal is reflected back, and the reflected signal is received by the signal receiving device on the drone. Then, according to the reflection time of the received detection signal, the actual distance from the drone to the obstacle is determined; when it is determined that the calculated actual distance is less than the preset distance, the operating parameters of the drone are adjusted, and the flight direction of the drone is changed, so as to control the drone to avoid obstacles to avoid collision with obstacles. By emitting a detection signal to the target direction of the drone to detect obstacles around the drone, and changing the flight direction of the drone according to the actual distance from the drone to the obstacle, the drone's perception of the surrounding environment is significantly improved, collision with obstacles is effectively avoided, the safety and reliability of the drone's flight are improved, and the accident rate is reduced.

[0011] In one embodiment, the method further comprises:

[0012] In response to receiving the detection signal reflected to the drone, data collected by the drone is backed up.

[0013] Beneficial effect: By backing up the data collected by the drone at the same time when receiving the detection signal reflected to the drone, the safety of the drone's flight data can be ensured even when the drone collides, avoiding the loss of important data collected by the drone, and providing strong guarantee for the stable flight of the drone in complex environments.

[0014] In one embodiment, the target direction includes a horizontal direction and a vertical direction, the detection signal includes a first detection signal and a second detection signal, and the method further includes:

[0015] Transmitting a first detection signal in a horizontal direction of the UAV, and transmitting a second detection signal in a vertical direction of the UAV;

[0016] Based on the first detection signal or the second detection signal, it is determined that the obstacle is located in the horizontal direction or the vertical direction of the UAV.

[0017] Beneficial effects: By dividing the target direction of the drone into horizontal and vertical directions, the spatial environment around the drone can be detected more comprehensively. When the first detection signal is transmitted to the horizontal direction of the drone, the first detection signal propagates in the horizontal direction and is reflected back after encountering an obstacle. Similarly, the second detection signal transmitted in the vertical direction will also be reflected after encountering an obstacle in the vertical direction. The receiving device on the drone will receive the reflected first detection signal and the second detection signal respectively. By further analyzing the reflection of the first detection signal and the second detection signal, it can be determined whether the obstacle is located in the horizontal direction or the vertical direction of the drone. This enables the drone to identify the location of obstacles more accurately, thereby taking more effective obstacle avoidance measures.

[0018] In one embodiment, the method further comprises:

[0019] Determine the actual distance from the drone to the obstacle in the horizontal direction based on the reflection time of the received first detection signal;

[0020] Based on the reflection time of receiving the second detection signal, the actual distance from the drone to the obstacle in the vertical direction is determined.

[0021] Beneficial effect: After the first detection signal is emitted, it propagates in the horizontal direction at a certain speed, and when the first detection signal encounters an obstacle, it is reflected back to the drone, thereby obtaining the reflection time of the first detection signal in the horizontal direction. Then, based on the propagation speed of the first detection signal, the actual distance from the drone to the obstacle in the horizontal direction can be calculated. Similarly, for the second detection signal, after the second detection signal is emitted, it propagates in the vertical direction and reflects to the drone, thereby obtaining the reflection time of the second detection signal in the vertical direction. Then, based on the propagation speed of the second detection signal, the actual distance from the drone to the obstacle in the vertical direction can be calculated. By determining the actual distance from the drone to the obstacle in the horizontal and vertical directions respectively, the drone can understand the location of the obstacle more accurately, thereby better avoiding the obstacle.

[0022] In one embodiment, in response to the actual distance being less than the preset distance, changing the flight direction of the drone includes:

[0023] In response to the actual distance in the vertical direction being less than the preset distance, controlling the drone to accelerate in the horizontal direction;

[0024] In response to the actual distance in the horizontal direction being less than the preset distance, the drone is controlled to accelerate in the vertical direction.

[0025] Beneficial effects: When the actual distance from the drone to the obstacle in the vertical direction is less than the preset distance, it indicates that the drone has a risk of collision in the vertical direction. At this time, the drone is controlled to accelerate in the horizontal direction, thereby changing the flight path and allowing the drone to quickly leave the area where obstacles exist in the vertical direction. Similarly, when the actual distance from the drone to the obstacle in the horizontal direction is less than the preset distance, it indicates that the drone may collide in the same height plane. At this time, the drone is controlled to accelerate in the vertical direction, so that the drone can avoid horizontal obstacles in the upper and lower spaces. By distinguishing the collision risks of the drone in the horizontal and vertical directions, the drone can respond to obstacles in different directions more accurately, thereby taking the most appropriate obstacle avoidance actions.

[0026] In one embodiment, the expression for determining the actual distance from the drone to the obstacle includes:

[0027]

[0028] Among them, d is the actual distance from the UAV to the obstacle; s is the distance the detection signal travels from the UAV to the obstacle and then back to the UAV; c is the propagation speed of the detection signal; and t is the reflection time of receiving the detection signal.

[0029] In one of the embodiments, a plurality of signal transmitting devices are provided on the periphery of the drone, and the detection signal is an electromagnetic wave; the electromagnetic waves are transmitted to the top, bottom, left, right, front and back of the drone based on the signal transmitting devices.

[0030] Beneficial effects: As the drone flies in the air, obstacles around it may appear in any direction, including up, down, left, right, front, and back. By setting up multiple signal transmitters on the periphery of the drone, all-round environmental perception can be achieved to ensure effective detection in both horizontal and vertical directions. Through the coordinated work of multiple signal transmitters, the entire space around the drone can be covered. Due to the fast propagation speed of electromagnetic waves, the drone can quickly obtain information about the surrounding environment by emitting electromagnetic waves, which facilitates the drone to respond quickly.

[0031] On the other hand, the present invention also provides a control system for an unmanned aerial vehicle, comprising:

[0032] A transmitting module, used for transmitting a detection signal in a target direction of the UAV when the UAV is flying normally;

[0033] a receiving module, configured to receive the detection signal reflected to the drone in response to the detection signal touching an obstacle;

[0034] A determination module, configured to determine an actual distance from the drone to the obstacle based on a reflection time of receiving the detection signal;

[0035] The control module is used to change the flight direction of the drone in response to the actual distance being less than a preset distance.

[0036] On the other hand, the present invention further provides a drone, comprising: a memory, a processor, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0037] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the control method of the drone as described above.

[0038] On the other hand, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the control method of the drone as described above when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a flow chart of a method for controlling a drone according to an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the front structure of a microstrip antenna according to an embodiment of the present invention;

[0042] Figure 3 A back structural diagram of a microstrip antenna according to an embodiment of the present invention;

[0043] Figure 4 A schematic flow chart of a method for controlling a drone according to another embodiment of the present invention;

[0044] Figure 5 A schematic flow chart of a method for controlling a drone according to another embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of a control system of a drone according to an embodiment of the present invention;

[0046] Figure 7 The figure is a schematic structural diagram of a drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] like Figures 2 to 4 As shown, an embodiment of the present invention provides a drone, Figure 2 The cube in the figure is regarded as an environment around the drone, and the drone is at the center of the cube. The surrounding ①②③④ can be regarded as the four external environments of the drone in the horizontal direction, and the signal transmitters on the four surfaces are set perpendicular to the horizontal plane. ⑤⑥ can be regarded as the external environment of the top and bottom of the drone, and the signal transmitters on the two surfaces are set parallel to the horizontal plane. The direction of the signal transmitter is made to face outward relative to the six faces of the cube to ensure that all directions around the drone can be covered by the electromagnetic waves emitted by the signal transmitter.

[0050] The signal transmitting device may be a microstrip antenna. Figure 3 The front side of the microstrip antenna, the antenna radiator 2 can be designed with different frequencies according to different design sizes; in order to save space in the drone, the frequency of the antenna radiator 2 can be selected to be high frequency, thereby reducing the size of the microstrip antenna. The antenna dielectric board 3 can be selected to be a glass cloth substrate, and since the microstrip antenna does not need to be too efficient, the loss of the antenna dielectric board 3 can be ignored. Figure 4 The antenna ground plane 5 is arranged at the back of the microstrip antenna to play a reflective role. A to F are antenna feeding points 1 and antenna feeding points 4 of each microstrip antenna, respectively, and the antenna feeding points 1 and antenna feeding points 4 are interconnected.

[0051] Combine the following Figures 1 to 7 , describing an embodiment of the present invention.

[0052] According to an embodiment of the present invention, Figure 1As shown, on the one hand, a method for controlling a drone is provided, comprising the following steps:

[0053] Step S100: When the UAV is flying normally, a detection signal is transmitted in the target direction of the UAV;

[0054] Step S200, in response to the detection signal touching an obstacle, receiving the detection signal reflected to the drone;

[0055] Step S300: determining the actual distance from the drone to the obstacle based on the reflection time of the received detection signal;

[0056] Step S400: In response to the actual distance being less than the preset distance, the flight direction of the UAV is changed.

[0057] In this embodiment, during the normal flight of the drone, in order to sense the environment around the drone, a detection signal is emitted to the target direction of the drone to check whether there are obstacles in the target direction of the drone. When the emitted detection signal hits an obstacle, part of the detection signal is reflected back, and the reflected signal is received by the signal receiving device on the drone. Then, according to the reflection time of the received detection signal, the actual distance from the drone to the obstacle is determined; when it is determined that the calculated actual distance is less than the preset distance, the operating parameters of the drone are adjusted, and the flight direction of the drone is changed, so as to control the drone to avoid obstacles and avoid collision with obstacles. By emitting a detection signal to the target direction of the drone to detect obstacles around the drone, and changing the flight direction of the drone according to the actual distance from the drone to the obstacle, the drone's perception of the surrounding environment is significantly improved, collision with obstacles is effectively avoided, the safety and reliability of the drone's flight are improved, and the accident rate is reduced.

[0058] Furthermore, the expression for determining the actual distance from the drone to the obstacle includes:

[0059]

[0060] Among them, d is the actual distance from the UAV to the obstacle; s is the distance the detection signal travels from the UAV to the obstacle and then back to the UAV; c is the propagation speed of the detection signal; and t is the reflection time of receiving the detection signal.

[0061] In one of the embodiments, the method further includes: in response to receiving the detection signal reflected to the drone, backing up the data collected by the drone.

[0062] In this embodiment, when the detection signal reflected to the drone is received, the data collected by the drone is backed up at the same time. Even if the drone collides, the backed up data can be read from the drone after the drone is found, thereby ensuring the security of the drone's flight data and avoiding the loss of important data collected by the drone, providing a strong guarantee for the stable flight of the drone in complex environments.

[0063] In one embodiment, the target direction includes a horizontal direction and a vertical direction, the detection signal includes a first detection signal and a second detection signal, and the method further includes:

[0064] Transmitting a first detection signal in the horizontal direction of the UAV and transmitting a second detection signal in the vertical direction of the UAV;

[0065] Based on the first detection signal or the second detection signal, it is determined that the obstacle is located in the horizontal direction or the vertical direction of the drone.

[0066] In this embodiment, the target direction of the drone is divided into the horizontal direction and the vertical direction, so as to more comprehensively detect the spatial environment around the drone. Figure 2 ①-④ are detected in the horizontal direction, and the first detection signal propagates in the horizontal direction and is reflected back after encountering an obstacle. If the reflected first detection signal is received, and the characteristics such as the intensity of the reflected first detection signal conform to the pattern of horizontal obstacles, then it can be determined that the obstacle is located in the horizontal direction. For example, during the flight of a drone, it receives the first detection signal after reflection in the horizontal direction, and the information such as the propagation time and angle of the signal shows that the obstacle is directly in front of the drone, then it is determined that the obstacle is directly in front of the drone in the horizontal direction.

[0067] Similarly, for Figure 2 ⑤-⑥ in the figure are used for vertical detection, and the second detection signal emitted in the vertical direction will also be reflected after encountering an obstacle in the vertical direction. The receiving device on the drone will receive the reflected first detection signal and the second detection signal respectively. If the reflected second detection signal is received, it can be determined that the obstacle is located in the vertical direction of the drone. For example, when the drone rises, it receives the second detection signal after reflection in the vertical direction, and judges that the obstacle is above the drone based on the signal characteristics, so it can be determined that the obstacle is located in the vertical direction. By analyzing the reflection of the first detection signal and the second detection signal, it can be determined whether the obstacle is located in the horizontal direction or the vertical direction of the drone. This enables the drone to identify the location of obstacles more accurately, thereby taking more effective obstacle avoidance measures.

[0068] In one embodiment, the method further comprises:

[0069] Determine the actual distance from the drone to the obstacle in the horizontal direction based on the reflection time of the received first detection signal;

[0070] Based on the reflection time of the received second detection signal, the actual distance from the drone to the obstacle in the vertical direction is determined.

[0071] In this embodiment, after the first detection signal is emitted, the first detection signal propagates in the horizontal direction at a certain speed, and when the first detection signal encounters an obstacle, it is reflected back to the drone, thereby obtaining the reflection time of the first detection signal in the horizontal direction. Then, according to the propagation speed of the first detection signal, the actual distance from the drone to the obstacle in the horizontal direction can be calculated. Similarly, for the second detection signal, after the second detection signal is emitted, it propagates in the vertical direction and reflects to the drone, thereby obtaining the reflection time of the second detection signal in the vertical direction. Then, according to the propagation speed of the second detection signal, the actual distance from the drone to the obstacle in the vertical direction can be calculated. By determining the actual distance from the drone to the obstacle in the horizontal and vertical directions respectively, the drone can more accurately understand the location of the obstacle, thereby better avoiding the obstacle.

[0072] like Figure 5 As shown, in one embodiment, step S400 includes:

[0073] Step S410: In response to the actual distance in the vertical direction being less than the preset distance, controlling the UAV to accelerate in the horizontal direction;

[0074] Step S420: In response to the actual distance in the horizontal direction being less than the preset distance, the drone is controlled to accelerate in the vertical direction.

[0075] In this embodiment, when the actual distance from the drone to the obstacle in the vertical direction is less than the preset distance, it indicates that the drone has a risk of collision in the vertical direction. At this time, the drone is controlled to accelerate in the horizontal direction, thereby changing the flight path and allowing the drone to quickly leave the area where obstacles exist in the vertical direction. Assume that the drone is rising, and the distance to the upper obstacle is calculated to be less than the preset distance through the detection signal in the vertical direction. For example, the preset distance is 10 meters, and the actual calculated distance is only 7 meters. In order to avoid collision with the upper obstacle, the drone control system will instruct the motor to adjust so that the drone accelerates in the horizontal direction, thereby changing the flight path and avoiding obstacles in the vertical direction. When performing the operation of accelerating flight in the horizontal direction, it is also necessary to consider whether there are other obstacles in the horizontal direction to avoid entering a new potential collision area due to controlling the drone to accelerate flight, and ensure the safety of the accelerated flight path.

[0076] Similarly, when the actual distance from the drone to the obstacle in the horizontal direction is less than the preset distance, it indicates that the drone may collide in the same height plane. At this time, controlling the drone to accelerate in the vertical direction can make the drone avoid horizontal obstacles in the upper and lower space. For example, when the drone is flying forward, it detects an obstacle in front of it, and the actual distance in the horizontal direction is less than the preset distance. If the preset distance is 10 meters and the actual distance is only 6 meters, the drone will receive a command to accelerate in the vertical direction, so that the drone can avoid horizontal obstacles in the vertical space. When accelerating in the vertical direction, the existing obstacles in the vertical direction and the performance limitations of the drone itself should also be considered. For example, the maximum ascent and descent speeds of the drone are limited. If the acceleration command exceeds the performance range of the drone, it may not be able to effectively avoid obstacles, and may even cause flight out of control. At the same time, it is also necessary to consider the impact of the acceleration process on the stability of the drone to avoid the loss of control of the drone's attitude due to acceleration.

[0077] By distinguishing the collision risks of the drone in the horizontal direction and the vertical direction, the drone can more accurately deal with obstacles in different directions and take the most appropriate obstacle avoidance actions. The preset distance can be 5 meters, 10 meters, 15 meters, 20 meters, etc., which can be set according to actual usage needs.

[0078] In one of the embodiments, a plurality of signal transmitting devices are provided on the periphery of the drone, and the detection signal is an electromagnetic wave; the electromagnetic waves are emitted to the top, bottom, left, right, front and back of the drone based on the signal transmitting devices.

[0079] In this embodiment, since the drone is flying in the air, obstacles around it may appear in any direction, including up, down, left, right, front, and back. By setting multiple signal transmitters on the periphery of the drone, all-round environmental perception can be achieved to ensure that it can be effectively detected in both the horizontal and vertical directions. Through the coordinated work of multiple signal transmitters, the entire space around the drone can be covered. Due to the fast propagation speed of electromagnetic waves, the drone can quickly obtain information about the surrounding environment by emitting electromagnetic waves, which facilitates the drone to respond quickly. For example, the transmitter located on the top of the drone is mainly responsible for emitting electromagnetic waves upward to detect obstacles above the drone, such as flying birds, objects suspended in the air, or objects falling from the air; the transmitter at the bottom is responsible for detecting obstacles below the drone, such as protrusions on the ground, other objects at low altitudes, etc.; the transmitters in front, behind, left, and right respectively detect obstacles in front of and behind the drone's flight direction and on both sides.

[0080] According to an embodiment of the present invention, Figure 6 As shown, on the other hand, a control system of a drone is also provided, comprising:

[0081] The transmitting module 100 is used to transmit a detection signal to the target direction of the drone when the drone is flying normally; a plurality of signal transmitting devices are arranged on the periphery of the drone, and the detection signal is an electromagnetic wave; the electromagnetic waves are transmitted to the upper, lower, left, right, front and rear of the drone based on the signal transmitting device;

[0082] The receiving module 200 is used to receive the detection signal reflected to the drone in response to the detection signal touching an obstacle;

[0083] The determination module 300 is used to determine the actual distance from the drone to the obstacle based on the reflection time of the received detection signal; the expression includes:

[0084]

[0085] Where d is the actual distance from the drone to the obstacle; s is the distance the detection signal travels from the drone to the obstacle and then back to the drone; c is the propagation speed of the detection signal; t is the reflection time of the received detection signal;

[0086] The control module 400 is used to change the flight direction of the drone in response to the actual distance being less than the preset distance.

[0087] In one embodiment, the receiving module 200 includes:

[0088] The backup unit is used to back up the data collected by the drone in response to receiving the detection signal reflected to the drone.

[0089] In one embodiment, the target direction includes a horizontal direction and a vertical direction, the detection signal includes a first detection signal and a second detection signal, and the transmitting module 100 includes:

[0090] A transmitting unit, used to transmit a first detection signal in a horizontal direction of the UAV and a second detection signal in a vertical direction of the UAV;

[0091] The first determination unit is used to determine that the obstacle is located in the horizontal direction or the vertical direction of the UAV based on the first detection signal or the second detection signal.

[0092] In one embodiment, the determination module 300 includes:

[0093] A second determination unit is used to determine the actual distance from the drone to the obstacle in the horizontal direction based on the reflection time of the received first detection signal;

[0094] The third determination unit is used to determine the actual distance from the drone to the obstacle in the vertical direction based on the reflection time of the received second detection signal.

[0095] In one embodiment, the control module 400 includes:

[0096] The first control unit is used to control the UAV to accelerate in the horizontal direction in response to the actual distance in the vertical direction being less than the preset distance;

[0097] The second control unit is used to control the UAV to accelerate in the vertical direction in response to the actual distance in the horizontal direction being less than the preset distance.

[0098] Figure 7 The schematic diagram of the structure of an embodiment of a drone provided by an embodiment of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the drone.

[0099] like Figure 7 As shown, the drone may include: a processor 502 , a communications interface 504 , a memory 506 , and a communications bus 508 .

[0100] The processor 502, the communication interface 504, and the memory 506 communicate with each other via the communication bus 508. The communication interface 504 is used to communicate with other devices such as a client or other server network elements. The processor 502 is used to execute the program 510, which can specifically execute the relevant steps in the above-mentioned control method embodiment for the drone.

[0101] Specifically, the program 510 may include program code including computer executable instructions.

[0102] The processor 502 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the drone may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0103] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0104] Program 510 can be specifically called by processor 502 to enable the drone to execute the relevant steps in the above-mentioned control method embodiment for the drone.

[0105] It can be understood by those skilled in the art that Figure 7 The structure shown is for illustration only and does not limit the structure of the above-mentioned device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations shown.

[0106] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0107] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The specific contents of the above specific embodiments only express several embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: The method comprises: When the UAV is flying normally, transmitting a detection signal in the target direction of the UAV; In response to the detection signal touching an obstacle, receiving the detection signal reflected to the drone; Determine the actual distance from the drone to the obstacle based on the reflection time of the received detection signal; In response to the actual distance being less than a preset distance, the flight direction of the drone is changed.

2. The method for controlling a drone according to claim 1, characterized in that: The method further comprises: In response to receiving the detection signal reflected to the drone, data collected by the drone is backed up.

3. The method for controlling a drone according to claim 1, characterized in that: The target direction includes a horizontal direction and a vertical direction, the detection signal includes a first detection signal and a second detection signal, and the method further includes: Transmitting a first detection signal in a horizontal direction of the UAV, and transmitting a second detection signal in a vertical direction of the UAV; Based on the first detection signal or the second detection signal, it is determined that the obstacle is located in the horizontal direction or the vertical direction of the UAV.

4. The method for controlling a drone according to claim 3, characterized in that: The method further comprises: Determine the actual distance from the drone to the obstacle in the horizontal direction based on the reflection time of the received first detection signal; Based on the reflection time of receiving the second detection signal, the actual distance from the drone to the obstacle in the vertical direction is determined.

5. The method for controlling a drone according to claim 3, characterized in that: In response to the actual distance being less than the preset distance, changing the flight direction of the drone comprises: In response to the actual distance in the vertical direction being less than the preset distance, controlling the drone to accelerate in the horizontal direction; In response to the actual distance in the horizontal direction being less than the preset distance, the drone is controlled to accelerate in the vertical direction.

6. The method for controlling a drone according to claim 1, characterized in that: The expression for determining the actual distance from the drone to the obstacle includes: Among them, d is the actual distance from the UAV to the obstacle; s is the distance the detection signal travels from the UAV to the obstacle and then back to the UAV; c is the propagation speed of the detection signal; and t is the reflection time of receiving the detection signal.

7. The method for controlling a drone according to claim 1, characterized in that: A plurality of signal transmitting devices are arranged on the periphery of the drone, and the detection signal is an electromagnetic wave; the electromagnetic waves are transmitted to the upper, lower, left, right, front and rear of the drone based on the signal transmitting devices.

8. A control system for an unmanned aerial vehicle, characterized in that: The control system comprises: A transmitting module, used for transmitting a detection signal in a target direction of the UAV when the UAV is flying normally; a receiving module, configured to receive the detection signal reflected to the drone in response to the detection signal touching an obstacle; A determination module, configured to determine an actual distance from the drone to the obstacle based on a reflection time of receiving the detection signal; The control module is used to change the flight direction of the drone in response to the actual distance being less than a preset distance.

9. A drone, characterized in that: include: A memory, a processor, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the control method of the drone according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the drone according to any one of claims 1 to 7 when executed.

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