Unmanned aerial vehicle flight control method, device, equipment, medium and product

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses an unmanned aerial vehicle flight control method and device, equipment, a medium and a product, and the method comprises the steps: receiving the broadcast information of an unmanned aerial vehicle; the unmanned aerial vehicle broadcast information is sent by a second unmanned aerial vehicle; analyzing the unmanned aerial vehicle broadcast information to obtain flight parameters corresponding to the second unmanned aerial vehicle; the flight parameters comprise spatio-temporal information corresponding to the second unmanned aerial vehicle; and controlling the flight state of the first unmanned aerial vehicle according to the spatio-temporal information corresponding to the second unmanned aerial vehicle and the position information of the first unmanned aerial vehicle. According to the scheme, the first unmanned aerial vehicle and the second unmanned aerial vehicle can communicate with each other through the broadcast information of the unmanned aerial vehicles and transmit the space-time information to each other, so that the first unmanned aerial vehicle and the second unmanned aerial vehicle can perform real-time flight control adjustment according to the acquired broadcast information in the driving process, and the collision risk of the unmanned aerial vehicles is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and specifically discloses a method, device, equipment, medium and product for controlling the flight of an unmanned aerial vehicle. Background Art

[0002] With the continuous development of drones, drones are being used more and more widely in various fields. At present, drone technology is becoming more and more mature, and drones can be used in various fields to perform operations to improve work efficiency.

[0003] Due to the surge in the number of drones of different types / scenarios / applications, when a certain number is reached, the risk of drone collisions will be magnified. In the workflow of general drones, the movement trajectory is usually controlled manually or the drone moves according to an automatically planned or pre-planned movement trajectory. However, if obstacle avoidance is to be achieved during the manual control process, it is necessary to observe the situation around the drone in order to make judgments and control it, which is only suitable for short-range drone control; in the automatic control process, general drones achieve obstacle avoidance through visual algorithms, and other drones may approach from angles that cannot be observed visually, so the reliability of their obstacle avoidance is low. Summary of the invention

[0004] In view of this, the present application provides a UAV flight control method, device, equipment, medium and product, which improves the reliability of UAV obstacle avoidance. The technical solution is as follows.

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

[0006] Receiving drone broadcast information; the drone broadcast information is sent by a second drone;

[0007] Parsing the drone broadcast information to obtain flight parameters corresponding to the second drone; the flight parameters include time and space information corresponding to the second drone;

[0008] The flight state of the first UAV is controlled according to the spatiotemporal information corresponding to the second UAV and the position information of the first UAV.

[0009] In a possible implementation, controlling the flight state of the first drone according to the spatiotemporal information corresponding to the second drone and the position information of the first drone includes:

[0010] When the current position of the second UAV meets the safety distance with the current position of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0011] In a possible implementation, when the position of the second UAV meets the safety distance with the position of the first UAV, controlling the first UAV to continue to perform the flight mission includes:

[0012] When the position of the second UAV meets the safety distance with the position of the first UAV, obtaining the predicted trajectory of the second UAV according to the position information of the second UAV at each time;

[0013] When the predicted trajectory of the second UAV does not intersect with the expected trajectory of the flight mission of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0014] In a possible implementation, the method further includes:

[0015] When the predicted trajectory of the second UAV intersects with the expected trajectory of the flight mission of the first UAV, the position information of the second UAV is monitored in real time, and when the position of the second UAV and the position of the first UAV are less than a first threshold, the flight trajectory of the flight mission of the first UAV is adjusted.

[0016] In a possible implementation, controlling the flight state of the first drone according to the spatiotemporal information corresponding to the second drone and the position information of the first drone includes:

[0017] When the current position of the second UAV does not meet the safety distance with the current position of the first UAV, the flight parameters of the first UAV are adjusted according to the flight parameters of the second UAV to control the flight state of the first UAV.

[0018] In a possible implementation, the flight parameters also include at least one of the flight start and end points, the route path, and the flight speed.

[0019] In a second aspect, a UAV flight control device is provided, the device being arranged on a first UAV, the device comprising:

[0020] An information receiving module, used for receiving drone broadcast information; the drone broadcast information is sent by the second drone;

[0021] A parameter acquisition module, used to parse the UAV broadcast information and obtain flight parameters corresponding to the second UAV; the flight parameters include time and space information corresponding to the second UAV;

[0022] The flight control module is used to control the flight state of the first UAV according to the time and space information corresponding to the second UAV and the position information of the first UAV.

[0023] In a possible implementation, the flight control module is further configured to: when a current position of the second UAV meets a safety distance with a current position of the first UAV, control the first UAV to continue to perform the flight mission.

[0024] In a possible implementation, the flight control module is further used to:

[0025] When the position of the second UAV meets the safety distance with the position of the first UAV, obtaining the predicted trajectory of the second UAV according to the position information of the second UAV at each time;

[0026] When the predicted trajectory of the second UAV does not intersect with the expected trajectory of the flight mission of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0027] In a possible implementation, the flight control module is further used to:

[0028] When the predicted trajectory of the second UAV intersects with the expected trajectory of the flight mission of the first UAV, the position information of the second UAV is monitored in real time, and when the position of the second UAV and the position of the first UAV are less than a first threshold, the flight trajectory of the flight mission of the first UAV is adjusted.

[0029] In a possible implementation, the flight control module is further used to:

[0030] When the current position of the second UAV does not meet the safety distance with the current position of the first UAV, the flight parameters of the first UAV are adjusted according to the flight parameters of the second UAV to control the flight state of the first UAV.

[0031] In a possible implementation, the flight parameters also include at least one of the flight start and end points, the route path, and the flight speed.

[0032] In a third aspect, a computer device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the above-mentioned UAV flight control method.

[0033] In a fourth aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned UAV flight control method.

[0034] In a fifth aspect, a computer program product or a computer program is provided, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned UAV flight control method.

[0035] The technical solution provided by this application may have the following beneficial effects:

[0036] During the flight of the first drone, the drone broadcast information sent by the surrounding drones can be monitored in real time. When the drone broadcast information sent by the second drone is obtained, the drone broadcast information will be parsed to obtain the flight parameters corresponding to the second drone, and the flight parameters corresponding to the second drone include the time and space information corresponding to the second drone. At this time, the first drone can control the flight state of the first drone according to its own position information and the time and space information corresponding to the second drone, thereby preventing the first drone from colliding with the second drone. In the above scheme, the first drone and the second drone can communicate with each other through drone broadcast information and transmit time and space information to each other, so that during the driving process of the first drone and the second drone, real-time flight control adjustments can be made according to the acquired broadcast information to reduce the risk of drone collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 The figure is a schematic diagram of the structure of a drone system according to an exemplary embodiment.

[0039] Figure 2 A schematic diagram of a control unit in the drone involved in the present application is shown.

[0040] Figure 3 The present invention is a method flow chart of a method for controlling a drone flight according to an exemplary embodiment.

[0041] Figure 4 The present invention is a method flow chart of a method for controlling a drone flight according to an exemplary embodiment.

[0042] Figure 5A block diagram of the logic principle of UAV flight control involved in an embodiment of the present application is shown.

[0043] Figure 6 It is a structural schematic diagram of a UAV flight control device provided in an embodiment of the present application.

[0044] Figure 7 It is a structural schematic diagram of a computer device provided by an optional embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between two items, or an association relationship between the two items, or a relationship between indication and being indicated, configuration and being configured, and the like.

[0047] Figure 1 FIG. 1 is a schematic diagram showing the structure of a drone system according to an exemplary embodiment. Figure 1 As shown, the drone system includes multiple drones.

[0048] Optional, such as Figure 1 As shown, the plurality of drones include drone No. 1, drone No. 2, drone No. 3, and drone No. 4. The flight paths of drone No. 1, drone No. 2, drone No. 3, and drone No. 4 intersect at a certain point. If drone No. 1, drone No. 2, drone No. 3, and drone No. 4 are allowed to fly automatically according to the paths, a collision is likely to occur.

[0049] Therefore, in the present application, UAV No. 1, UAV No. 2, UAV No. 3 and UAV No. 4 can communicate with each other through a wireless network and transmit relevant information to each other through wireless broadcast signals, thereby reducing the risk of collision between UAVs.

[0050] Please refer to Figure 2 , which shows a schematic diagram of a control unit in the drone involved in this application. Figure 2 As shown, each drone includes a drone flight control unit (A1, A2 or A3), a SOC control unit (B1, B2 or B3), a broadcast communication unit (C1, C2 or C3) and a wireless module (D1, D2 or D3).

[0051] Optionally, the above-mentioned server can be a server cluster or a distributed system composed of multiple physical servers, or it can be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms and other technical computing services.

[0052] Optionally, the above-mentioned wireless network uses standard communication technology and / or protocol. The network is usually the Internet, but it can also be any other network, including but not limited to any combination of local area network, metropolitan area network, wide area network, mobile, limited or wireless network, private network or virtual private network. In some embodiments, the technology and / or format including hypertext markup language, extensible markup language, etc. are used to represent the data exchanged through the network. In addition, conventional encryption technologies such as secure socket layer, transport layer security, virtual private network, Internet protocol security, etc. can also be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technology can also be used to replace or supplement the above-mentioned data communication technology.

[0053] Figure 3 is a method flow chart of a method for controlling a drone flight according to an exemplary embodiment. The method is executed by a computer device, which may be a computer device such as Figure 1 Any UAV in the UAV system shown. Figure 3 As shown, the method flow chart of the UAV flight control method may include the following steps:

[0054] Step 301, receiving drone broadcast information; the drone broadcast information is sent by a second drone.

[0055] Step 302: parse the drone broadcast information to obtain flight parameters corresponding to the second drone; the flight parameters include time and space information corresponding to the second drone.

[0056] In order to improve the reliability of obstacle avoidance, in addition to visual information, the flight parameters of the second UAV (such as spatiotemporal information) are crucial to the control of the first UAV. After receiving the broadcast information of the second UAV, the first UAV will parse this information and extract the flight parameters of the second UAV, especially the spatiotemporal information (such as position coordinates, speed, heading angle, etc.). Obtaining flight parameters is the basis for calculating and predicting the relative motion between UAVs.

[0057] Step 303: Control the flight state of the first UAV according to the time and space information corresponding to the second UAV and the position information of the first UAV.

[0058] In order to avoid collision between drones, the first drone needs to adjust its flight state according to the spatiotemporal information of the second drone, for example, it can change the flight speed, direction, or altitude. The first drone calculates and adjusts the flight trajectory in real time according to the spatiotemporal information of the second drone and its own position information.

[0059] Specifically, the first drone can track the relative position of the second drone in real time to determine whether the flight paths of the two drones will intersect. After that, the first drone will conduct a collision risk assessment, calculate flight parameters, predict the relative movement of the two drones in the future, and determine whether there is a collision risk.

[0060] If there is a risk of collision, the first drone will take corresponding actions, such as changing the flight direction, adjusting the speed, changing the flight altitude, etc.

[0061] In summary, during the flight of the first drone, the drone broadcast information sent by the surrounding drones can be monitored in real time. After obtaining the drone broadcast information sent by the second drone, the drone broadcast information will be parsed to obtain the flight parameters corresponding to the second drone, and the flight parameters corresponding to the second drone include the time and space information corresponding to the second drone. At this time, the first drone can control the flight state of the first drone according to its own position information and the time and space information corresponding to the second drone, thereby preventing the first drone from colliding with the second drone. In the above scheme, the first drone and the second drone can communicate with each other through drone broadcast information and transmit time and space information to each other, so that during the driving process of the first drone and the second drone, real-time flight control adjustments can be made according to the acquired broadcast information to reduce the risk of drone collision.

[0062] Figure 4 is a method flow chart of a method for controlling a drone flight according to an exemplary embodiment. The method is executed by a computer device, which may be a computer device such as Figure 1 Any UAV in the UAV system shown. Figure 4 As shown, the method flow chart of the UAV flight control method may include the following steps:

[0063] Step 401, receiving drone broadcast information.

[0064] Step 402: parse the drone broadcast information to obtain flight parameters corresponding to the second drone; the flight parameters include time and space information corresponding to the second drone.

[0065] The spatiotemporal information includes the specific latitude and longitude coordinates, speed, acceleration, etc. of the second UAV at each moment.

[0066] Step 403A: When the current position of the second UAV meets the safety distance with the current position of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0067] To avoid collision, the flight system needs to determine the safe distance between the two drones. If the distance is sufficient, the first drone can continue to perform the current task without changing its preset motion trajectory.

[0068] Specifically, first, the system defines a safety distance threshold, that is, the minimum safety distance between the first UAV and the second UAV. If the current position of the second UAV and the first UAV meets this safety distance requirement, the first UAV can maintain the current flight mission without taking obstacle avoidance actions.

[0069] If the safety distance meets the requirements, the first drone will further predict the future trajectory of the second drone. If the predicted trajectory of the second drone does not intersect with the expected trajectory of the first drone, the first drone can continue to fly as planned.

[0070] Furthermore, when the position of the second UAV meets the safety distance with the position of the first UAV, the predicted trajectory of the second UAV is obtained according to the position information of the second UAV at each time; when the predicted trajectory of the second UAV does not intersect with the expected trajectory of the flight mission of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0071] Based on the spatiotemporal information of the second drone, the first drone calculates and predicts its future trajectory. Specifically, a trajectory estimation algorithm can be used, which can usually use motion models and time estimation to estimate the future position of the second drone. If the predicted trajectory of the second drone does not overlap with the expected flight path of the first drone, the first drone can safely continue the flight mission. If the predicted trajectory may intersect with the flight path of the first drone, the first drone needs to perform real-time monitoring and path adjustment.

[0072] Furthermore, when the predicted trajectory of the second UAV intersects with the expected trajectory of the flight mission of the first UAV, the position information of the second UAV is monitored in real time, and when the position of the second UAV and the position of the first UAV are less than a first threshold, the flight trajectory of the first UAV flight mission is adjusted.

[0073] When the distance between the second drone and the first drone is less than the set first threshold (i.e., the risk of potential collision is high), the first drone needs to adjust its flight trajectory to avoid collision. The first threshold can usually be set based on flight speed, reaction time and safety standards to ensure that the drones have enough time and space to avoid.

[0074] Step 403B: when the current position of the second UAV does not meet the safety distance with the current position of the first UAV, the flight parameters of the first UAV are adjusted according to the flight parameters of the second UAV to control the flight state of the first UAV.

[0075] The first drone will optimize and adjust the path according to the flight parameters (position, speed, acceleration, etc.) of the second drone. For example, the first drone can change the flight direction to avoid the flight path of the second drone. For example, the first drone can also change the flight speed to adjust the relative position with the second drone by accelerating or decelerating. For example, the first drone can also change the flight altitude to avoid collision.

[0076] Optionally, the flight parameters also include at least one of the flight start and end points, route path, and speed.

[0077] Please refer to Figure 5 , which shows a logic principle block diagram of a drone flight control involved in an embodiment of the present application, such as Figure 5 As shown, during the flight of the first UAV, the first UAV will collect broadcast information in real time, obtain the flight parameters of the surrounding UAVs, and compare the flight parameters of the surrounding UAVs with its own flight parameters. The most important thing is to judge the safe distance, whether the current UAV is at a safe distance from the surrounding UAVs; and whether the future trajectory of the current UAV and the surrounding UAVs is at a safe distance. If the safe distance is not met, the flight parameters such as speed, longitude and latitude can be adjusted; if the safe distance is met, the flight mission can be completed normally.

[0078] In summary, during the flight of the first drone, the drone broadcast information sent by the surrounding drones can be monitored in real time. After obtaining the drone broadcast information sent by the second drone, the drone broadcast information will be parsed to obtain the flight parameters corresponding to the second drone, and the flight parameters corresponding to the second drone include the time and space information corresponding to the second drone. At this time, the first drone can control the flight state of the first drone according to its own position information and the time and space information corresponding to the second drone, thereby preventing the first drone from colliding with the second drone. In the above scheme, the first drone and the second drone can communicate with each other through drone broadcast information and transmit time and space information to each other, so that during the driving process of the first drone and the second drone, real-time flight control adjustments can be made according to the acquired broadcast information to reduce the risk of drone collision.

[0079] In the embodiments of the present application, a UAV flight control device is also provided, which is used to implement the above embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0080] The present application provides a UAV flight control device. Figure 6 : is a schematic diagram of the structure of a UAV flight control device provided in an embodiment of the present application, wherein the device is arranged on a first UAV, and the device comprises:

[0081] The information receiving module 601 is used to receive the drone broadcast information; the drone broadcast information is sent by the second drone;

[0082] The parameter acquisition module 602 is used to parse the UAV broadcast information to obtain the flight parameters corresponding to the second UAV; the flight parameters include the time and space information corresponding to the second UAV;

[0083] The flight control module 603 is used to control the flight state of the first UAV according to the time and space information corresponding to the second UAV and the position information of the first UAV.

[0084] In a possible implementation, the flight control module is further configured to: when a current position of the second UAV meets a safety distance with a current position of the first UAV, control the first UAV to continue to perform the flight mission.

[0085] In a possible implementation, the flight control module is further used to:

[0086] When the position of the second UAV meets the safety distance with the position of the first UAV, obtaining the predicted trajectory of the second UAV according to the position information of the second UAV at each time;

[0087] When the predicted trajectory of the second UAV does not intersect with the expected trajectory of the flight mission of the first UAV, the first UAV is controlled to continue to perform the flight mission.

[0088] In a possible implementation, the flight control module is further used to:

[0089] When the predicted trajectory of the second UAV intersects with the expected trajectory of the flight mission of the first UAV, the position information of the second UAV is monitored in real time, and when the position of the second UAV and the position of the first UAV are less than a first threshold, the flight trajectory of the flight mission of the first UAV is adjusted.

[0090] In a possible implementation, the flight control module is further used to:

[0091] When the current position of the second UAV does not meet the safety distance with the current position of the first UAV, the flight parameters of the first UAV are adjusted according to the flight parameters of the second UAV to control the flight state of the first UAV.

[0092] In a possible implementation, the flight parameters also include at least one of the flight start and end points, the route path, and the flight speed.

[0093] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0094] The UAV flight control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0095] The embodiment of the present invention also provides a computer device having the above Figure 6 The drone flight control device is shown.

[0096] See also Figure 7 , Figure 7 is a schematic diagram of a computer device provided by an optional embodiment of the present invention. The computer device can be used to implement the following Figure 2 The various functions of the drone flight control unit, SOC control unit and broadcast communication unit are shown, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphic information in a graphical user interface on an external input / output device (such as a display device coupled to an interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0097] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0098] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0099] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0100] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0101] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0102] 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.

[0103] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0104] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the present invention.

Claims

1. A UAV flight control method, characterized in that: The method is performed by a first drone, and the method includes: Receiving drone broadcast information; the drone broadcast information is sent by a second drone; Parsing the drone broadcast information to obtain flight parameters corresponding to the second drone; the flight parameters include time and space information corresponding to the second drone; The flight state of the first UAV is controlled according to the spatiotemporal information corresponding to the second UAV and the position information of the first UAV.

2. The method according to claim 1, characterized in that The controlling the flight state of the first UAV according to the spatiotemporal information corresponding to the second UAV and the position information of the first UAV includes: When the current position of the second UAV meets the safety distance with the current position of the first UAV, the first UAV is controlled to continue to perform the flight mission.

3. The method according to claim 2, characterized in that When the position of the second UAV meets the safety distance with the position of the first UAV, controlling the first UAV to continue to perform the flight mission includes: When the position of the second UAV meets the safety distance with the position of the first UAV, obtaining the predicted trajectory of the second UAV according to the position information of the second UAV at each time; When the predicted trajectory of the second UAV does not intersect with the expected trajectory of the flight mission of the first UAV, the first UAV is controlled to continue to perform the flight mission.

4. The method according to claim 3, characterized in that The method further comprises: When the predicted trajectory of the second UAV intersects with the expected trajectory of the flight mission of the first UAV, the position information of the second UAV is monitored in real time, and when the position of the second UAV and the position of the first UAV are less than a first threshold, the flight trajectory of the flight mission of the first UAV is adjusted.

5. The method according to claim 1, characterized in that The controlling the flight state of the first UAV according to the spatiotemporal information corresponding to the second UAV and the position information of the first UAV includes: When the current position of the second UAV does not meet the safety distance with the current position of the first UAV, the flight parameters of the first UAV are adjusted according to the flight parameters of the second UAV to control the flight state of the first UAV.

6. The method according to any one of claims 1 to 5, characterized in that: The flight parameters also include at least one of the flight start and end points, the route path, and the flight speed.

7. A UAV flight control device, characterized in that: The device is arranged on a first drone, and comprises: An information receiving module, used for receiving drone broadcast information; the drone broadcast information is sent by the second drone; A parameter acquisition module, used to parse the UAV broadcast information and obtain flight parameters corresponding to the second UAV; the flight parameters include time and space information corresponding to the second UAV; The flight control module is used to control the flight state of the first UAV according to the time and space information corresponding to the second UAV and the position information of the first UAV.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the UAV flight control method according to any one of claims 1 to 7 by executing the computer instructions.

9. 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 computer to execute any one of the UAV flight control methods in claims 1 to 7.

10. A computer program product, characterized in that It includes computer instructions, and the computer instructions are used to enable a computer to execute the drone flight control method described in any one of claims 1 to 7.

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