Unmanned aerial vehicle control method capable of improving flight safety

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle control method capable of improving flight safety, which comprises a flight control system, a power system, a detection system, an avoidance system, a redundancy control system and a data encryption and communication system. The redundancy control system is used for providing an additional control channel, and can take over flight control when the main control system breaks down to ensure safe landing or return flight of the unmanned aerial vehicle; the data encryption and communication system is used for ensuring communication security between the unmanned aerial vehicle and the ground control station and preventing data leakage or hostile attack. Communication data between the unmanned aerial vehicle and the ground control station can be realized through the data encryption and communication system, the data safety is ensured, the flight safety is improved, and the redundancy control system and the main control system can work in parallel, so that flight control can be taken over when the main control system breaks down, and safe landing or return flight of the unmanned aerial vehicle is ensured. The flight safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a control method for unmanned aerial vehicles capable of improving flight safety. Background Art

[0002] A drone is an unmanned aerial vehicle operated by a radio remote control device or a self-contained program control device, or operated completely or intermittently autonomously by an onboard computer. It first appeared in the 1920s and was originally used as a target aircraft for training.

[0003] Drones involve sensor technology, communication technology, information processing technology, intelligent control technology, and aviation propulsion technology. They are high-tech products of the information age and have a wide range of applications, including military reconnaissance, border patrols, nuclear radiation detection, aerial photography, disaster monitoring, etc. In addition, drones also have great application potential in agricultural plant protection, cargo transportation, aerial wireless networks, and data acquisition.

[0004] A Chinese patent discloses a method, device, equipment and storage medium for controlling a drone based on a laser radar (Announcement No. CN115903890A). The patented technology uses a laser radar to obtain the relative distance between the drone and the obstacle; when the relative distance is less than a preset first distance threshold, the target position information of the obstacle is obtained; a drone control instruction is generated based on the target position information and the current position of the drone; and the drone is controlled to fly over the obstacle according to the drone control instruction. Since the present invention obtains the target position information of the obstacle when the relative distance between the drone and the obstacle is less than a preset first distance threshold; a drone control instruction is generated based on the target position and the current position of the drone; and the drone is controlled to fly over the obstacle according to the drone control instruction, compared with the existing method in which the user controls the flight of the drone through the drone's image transmission data, the above method of the present invention can ensure the flight safety of the drone.

[0005] However, most existing drones can only realize their automatic avoidance function during flight, and they have no redundant control system during flight. In this way, when the main system fails, it is easy to affect the normal flight of the drone. In addition, the drone is not trained for takeoff before flight, which will lead to the safety of controlling the drone during flight. Therefore, those skilled in the art provide a drone control method that can improve flight safety to solve the problems raised in the above background technology. Summary of the invention

[0006] The purpose of the present invention is to provide a drone control method that can improve flight safety, so as to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A method for controlling a drone that can improve flight safety includes a flight control system, a power system, a detection system, an avoidance system, a redundant control system, and a data encryption and communication system. The specific control method includes the following steps:

[0009] S1. Pre-flight preparation and inspection: First, check the drone before flight, choose a suitable site, and understand the flight environment;

[0010] S2, flight control system operation;

[0011] S21. Takeoff: Place the drone on a flat surface, turn on the power switch, provide power through the power system, wait for the drone to establish a connection with the remote controller, use the remote controller to control the drone to take off, and hover stably at a certain height, observe the deviation direction of the drone and make necessary adjustments;

[0012] S22, flight direction control: control the flight direction of the drone through the direction keys on the remote controller. During the flight, the flight control system will collect flight data in real time and make adjustments according to the preset flight route and attitude control instructions;

[0013] S23, Flight monitoring: The detection system can monitor the flight status of the UAV, including altitude, speed, attitude, etc., and generate accurate flight status and environmental models through data fusion technology;

[0014] S24. When an obstacle appears in front of the aircraft, the obstacle avoidance sensor of the avoidance system can be used to avoid the obstacle, and the flight path can be planned by path planning technology;

[0015] S25, Power system monitoring and management: The detection system monitors the battery power of the power system, and can adjust the motor speed and propeller thrust in time to ensure the flight safety of the UAV;

[0016] S3, Redundant system intervention and data communication guarantee: When a UAV fails during flight, the redundant control system will immediately intervene and take over control, which can ensure that the UAV can continue to fly safely. At the same time, in an emergency, it ensures the stable operation of the data encryption and communication system, so as to maintain communication with the ground control station and report the status of the UAV in a timely manner;

[0017] S4. Landing and subsequent processing.

[0018] As a further solution of the present invention: the specific steps of S1 include:

[0019] S11. Check the status of the drone: including the power system, flight control system, detection system, avoidance system, redundant control system, and data encryption and communication system;

[0020] When checking the power system, make sure the battery is fully charged, check whether the motor is running normally, and whether the propeller is intact and has no cracks;

[0021] Flight control system inspection to ensure it is functioning properly, including settings for semi-autonomous or fully autonomous modes;

[0022] During the inspection of the detection system, confirm that the sensors are working properly so as to collect flight data in real time;

[0023] When checking the avoidance system, test the sensitivity of the obstacle avoidance sensor to ensure that it can accurately perceive the surrounding environment;

[0024] During the redundant control system inspection, check whether the redundant sensors and control systems are configured properly to provide backup in case of failure of the primary system;

[0025] When testing data encryption and communication systems, ensure that the communication links are unobstructed and that the encrypted communications are set correctly to prevent unauthorized access or interference;

[0026] S12. Choose an open area with no obstructions for flying, and avoid flying near crowded places or buildings.

[0027] S13. Understand the local weather conditions and flight restrictions, and set the drone's return altitude. Various equipment includes battery power, propellers, sensors, drone and remote control firmware, etc.

[0028] As a further solution of the present invention: the S1 also needs to perform take-off and hovering skills training, the take-off and hovering skills include smooth take-off and hovering practice, the smooth take-off training first ensures that the ground is flat, slowly pushes up the throttle, and allows the drone to steadily rise to a height of 1-2 meters, and the hovering practice is to learn to balance the drift of the drone by keeping the drone stationary at a certain height and adjusting the posture using the remote control;

[0029] The landing and subsequent processing in S4 specifically include the following steps:

[0030] A1. Use the remote control to gradually reduce the throttle and control the drone to land smoothly. During the landing process, the flight control system will collect flight data in real time and make adjustments according to the preset landing instructions.

[0031] A2. Collect all data during the flight, including flight status, environmental perception data, obstacle avoidance data, etc., and conduct subsequent analysis to optimize the flight control algorithm and path planning strategy;

[0032] A3. Perform maintenance and inspection on the drone, including a comprehensive inspection of the flight control system, power system, detection system, avoidance system, redundant control system, and data encryption and communication systems to ensure that the drone is in good condition before the next flight.

[0033] As a further solution of the present invention: the flight control system is responsible for the attitude control, navigation, positioning and communication of other systems of the UAV, and generally includes sensors, a main control chip and a communication module, etc.;

[0034] The power system is used to provide the UAV with the power required for flight, including a motor, a battery, and a motor controller;

[0035] The detection system is used to monitor the flight status and environment of the drone in real time, such as obstacle detection and battery power monitoring, and usually includes cameras, radars, infrared sensors, and ultrasonic sensors;

[0036] The avoidance system is used to integrate multiple sensors to detect and avoid obstacles and collisions in real time;

[0037] The redundant control system is used to provide an additional control channel, which can take over the flight control when the main control system fails, ensuring the safe landing or return of the UAV;

[0038] The data encryption and communication system is used to ensure the communication security between the UAV and the ground control station to prevent data leakage or malicious attacks.

[0039] As a further solution of the present invention: the sensor includes a gyroscope, an accelerometer, a magnetometer, a barometer and a GPS;

[0040] The gyroscope is used to measure angular velocity;

[0041] The accelerometer is used to measure acceleration;

[0042] The magnetometer is used to measure the Earth's magnetic field to determine the direction;

[0043] The barometer is used to measure altitude;

[0044] The GPS is used to provide location and speed information.

[0045] As a further solution of the present invention: the flight control system includes attitude control, altitude and speed control, route planning, and fault diagnosis and protection;

[0046] The attitude control monitors the attitude of the drone in real time through sensors, such as pitch, roll and yaw angles, and adjusts the attitude of the drone to keep it stable according to the preset flight mode and instructions;

[0047] The altitude and speed control ensures that the UAV can maintain a suitable altitude and speed in different mission environments by precisely controlling the flight altitude and speed of the UAV;

[0048] The route planning plans the flight route of the UAV according to the mission requirements to ensure that it can accurately reach the target location;

[0049] The fault diagnosis and protection can enable the flight control system to detect and take corresponding protective measures in a timely manner when a fault occurs in the UAV.

[0050] As a further solution of the present invention: the power system includes motor control and battery management. The motor control accurately controls the motor speed through an electronic speed regulator, thereby adjusting the flight speed of the drone; the battery management can monitor the battery power and status to ensure that the battery operates within a safe range, optimize the battery usage efficiency, and extend the flight time.

[0051] As a further solution of the present invention: the avoidance system includes environment perception and obstacle avoidance decision-making;

[0052] The environmental perception uses sensors to perceive the environmental information around the drone in real time, including the location and distance of obstacles;

[0053] The obstacle avoidance decision generates obstacle avoidance decision instructions based on the perceived environmental information to control the drone to avoid obstacles.

[0054] As a further solution of the present invention: the redundant control system includes monitoring and taking over control;

[0055] The monitoring can actually monitor the operating status of the main control system, and once a fault or abnormality is detected, the redundant control system can be immediately started;

[0056] The takeover control can ensure that when the main control system fails, the redundant control system can quickly take over the flight control to ensure the safe landing or return of the drone.

[0057] As a further solution of the present invention: the data encryption and communication system includes data encryption, communication protocol selection, identity authentication and access control,

[0058] The data encryption can encrypt the communication data between the UAV and the ground control station to prevent the data from being stolen or tampered with;

[0059] The communication protocol selection may select a secure and reliable communication protocol, such as TLS / SSL, etc., to ensure the security and integrity of data transmission;

[0060] The identity authentication and access control can authenticate and control access to users who access drone monitoring data, ensuring that only authorized users can access and operate the drone system.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] 1. The present invention can realize the communication data between the UAV and the ground control station through the data encryption and communication system, and can transmit and securely encrypt the communication data to ensure the security of the data, effectively prevent the UAV data from being stolen and tampered, and improve flight safety.

[0063] 2. The present invention can work in parallel with the main control system through a redundant control system and monitor its status in real time. In this way, when a failure occurs in the main control system, the flight control can be taken over to ensure the safe landing or return of the UAV, thereby improving the flight safety of the UAV.

[0064] 3. The present invention can ensure that the status of each device is maintained within a normal range by detecting the status of the device and being familiar with the flight environment, thereby avoiding problems with the equipment and affecting flight safety. In addition, by being familiar with the flight environment, flight safety can be improved during flight and flight work can be avoided from being affected by bad weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A framework diagram of a UAV control method for improving flight safety;

[0066] Figure 2 is a flow chart of a method for controlling a UAV that can improve flight safety;

[0067] Figure 3 The present invention is a flowchart of pre-flight preparation and inspection in a UAV control method that can improve flight safety. DETAILED DESCRIPTION

[0068] 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.

[0069] See also Figures 1 to 3 In an embodiment of the present invention, a method for controlling a drone that can improve flight safety includes a flight control system, a power system, a detection system, an avoidance system, a redundant control system, and a data encryption and communication system. The specific control method includes the following steps:

[0070] S1. Pre-flight preparation and inspection: First, check the drone before flight, choose a suitable site, and understand the flight environment;

[0071] S2, flight control system operation;

[0072] S21. Takeoff: Place the drone on a flat surface, turn on the power switch, provide power through the power system, wait for the drone to establish a connection with the remote controller, use the remote controller to control the drone to take off, and hover stably at a certain height, observe the deviation direction of the drone and make necessary adjustments;

[0073] S22, flight direction control: control the flight direction of the drone through the direction keys on the remote controller. During the flight, the flight control system will collect flight data in real time and make adjustments according to the preset flight route and attitude control instructions;

[0074] S23, Flight monitoring: The detection system can monitor the flight status of the UAV, including altitude, speed, attitude, etc., and generate accurate flight status and environmental models through data fusion technology;

[0075] S24. When an obstacle appears in front of the aircraft, the obstacle avoidance sensor of the avoidance system can be used to avoid the obstacle, and the flight path can be planned by path planning technology;

[0076] S25, Power system monitoring and management: The detection system monitors the battery power of the power system, and can adjust the motor speed and propeller thrust in time to ensure the flight safety of the UAV;

[0077] S3, Redundant system intervention and data communication guarantee: When a UAV fails during flight, the redundant control system will immediately intervene and take over control, which can ensure that the UAV can continue to fly safely. At the same time, in an emergency, it ensures the stable operation of the data encryption and communication system, so as to maintain communication with the ground control station and report the status of the UAV in a timely manner;

[0078] S4. Landing and subsequent processing.

[0079] Furthermore, in the present invention, the specific steps of S1 include:

[0080] S11. Check the status of the drone: including the power system, flight control system, detection system, avoidance system, redundant control system, and data encryption and communication system;

[0081] When checking the power system, make sure the battery is fully charged, check whether the motor is running normally, and whether the propeller is intact and has no cracks;

[0082] Flight control system inspection to ensure it is functioning properly, including settings for semi-autonomous or fully autonomous modes;

[0083] During the inspection of the detection system, confirm that the sensors are working properly so as to collect flight data in real time;

[0084] When checking the avoidance system, test the sensitivity of the obstacle avoidance sensor to ensure that it can accurately perceive the surrounding environment;

[0085] During the redundant control system inspection, check whether the redundant sensors and control systems are configured properly to provide backup in case of failure of the primary system;

[0086] When testing data encryption and communication systems, ensure that the communication links are unobstructed and that the encrypted communications are set correctly to prevent unauthorized access or interference;

[0087] S12. Choose an open area with no obstructions for flying, and avoid flying near crowded places or buildings.

[0088] S13. Understand the local weather conditions and flight restrictions, and set the drone's return altitude. Various equipment includes battery power, propellers, sensors, drone and remote control firmware, etc.

[0089] In S1, takeoff and hovering skills training is also required. Takeoff and hovering skills include smooth takeoff and hovering practice. Smooth takeoff training first ensures that the ground is flat, slowly pushes up the throttle, and lets the drone steadily rise to a height of 1-2 meters. Hovering practice is to keep the drone stationary at a certain height, and use the remote control to adjust the attitude and learn to balance the drift of the drone.

[0090] Furthermore, after the flight, landing and subsequent processing are required, and the specific steps include:

[0091] A1. Use the remote control to gradually reduce the throttle and control the drone to land smoothly. During the landing process, the flight control system will collect flight data in real time and make adjustments according to the preset landing instructions.

[0092] A2. Collect all data during the flight, including flight status, environmental perception data, obstacle avoidance data, etc., and conduct subsequent analysis to optimize the flight control algorithm and path planning strategy;

[0093] A3. Perform maintenance and inspection on the drone, including a comprehensive inspection of the flight control system, power system, detection system, avoidance system, redundant control system, and data encryption and communication systems to ensure that the drone is in good condition before the next flight.

[0094] Specifically, the flight control system of the present invention is responsible for the attitude control, navigation, positioning and communication of other systems of the UAV, and generally includes sensors, a main control chip and a communication module, etc.;

[0095] The power system is used to provide the UAV with the power required for flight, including motors, batteries, and motor controllers;

[0096] The detection system is used to monitor the flight status and environment of the drone in real time, such as obstacle detection and battery power monitoring, and usually includes cameras, radars, infrared sensors, and ultrasonic sensors;

[0097] The avoidance system is used to integrate multiple sensors to detect and avoid obstacles and collisions in real time;

[0098] The redundant control system is used to provide an additional control channel, which can take over the flight control when the main control system fails, ensuring the safe landing or return of the drone;

[0099] Data encryption and communication systems are used to ensure the security of communications between drones and ground control stations to prevent data leakage or malicious attacks.

[0100] Specifically, the sensor includes a gyroscope, an accelerometer, a magnetometer, a barometer, and a GPS;

[0101] Among them, the gyroscope is used to measure angular velocity, the accelerometer is used to measure acceleration, the magnetometer is used to measure the Earth's magnetic field to determine the direction, the barometer is used to measure altitude, and the GPS is used to provide location and speed information.

[0102] It should be noted that the gyroscope is mainly used to measure the rotational angular velocity of the drone, and can detect the attitude angle changes of the drone on the three axes of roll, pitch and yaw in real time; it works with the accelerometer to provide accurate angle data for the flight control system, thereby correcting the flight direction and attitude, ensuring that the drone can stably perform various flight actions, such as stable flight, turning, rolling, etc.

[0103] Furthermore, the accelerometer is used to measure the acceleration of the drone in the XYZ three-axis direction, as well as the tilt angle generated during flight; it can ensure that the drone maintains the correct tilt angle when it is stationary, and provide necessary acceleration data during dynamic flight;

[0104] Among them, the magnetometer is similar to an electronic compass, which can measure the direction of the earth's magnetic field, thereby helping the drone determine its own heading;

[0105] The barometer estimates the altitude of the drone by measuring changes in air pressure. In this way, when there is no GPS signal or the GPS signal is inaccurate, the barometer can ensure the accuracy of the flight altitude and avoid errors.

[0106] Specific description: GPS provides the drone's latitude and longitude, flight altitude and speed in real time to achieve positioning and navigation functions; when the signal is lost or the battery is low, GPS can guide the drone to automatically return to the take-off point to ensure flight safety; GPS can also be combined with other sensors to further improve the flight safety of drones. For example, by fusing data with sensors such as barometers and accelerometers, GPS can more accurately determine the drone's flight status and environmental changes, thereby making more reasonable adjustments.

[0107] Specifically, the flight control system of the present invention includes attitude control, altitude and speed control, route planning, and fault diagnosis and protection;

[0108] Attitude control uses sensors to monitor the drone's attitude in real time, such as pitch, roll and yaw angles, and adjusts the drone's attitude to keep it stable according to the preset flight mode and instructions;

[0109] Altitude and speed control: By precisely controlling the flight altitude and speed of the drone, it ensures that it can maintain the appropriate altitude and speed in different mission environments.

[0110] Route planning plans the flight route of the drone according to mission requirements to ensure that it can accurately reach the target location;

[0111] Fault diagnosis and protection can ensure that when a UAV fails, the flight control system can detect it in time and take corresponding protective measures.

[0112] It should be noted that attitude control is one of the basic functions of the flight control system. It ensures that the drone maintains a stable attitude during flight and is not affected by wind or other disturbances. By controlling the drone's pitch angle (tilt forward and backward), roll angle (tilt left and right) and heading angle (rotation left and right), the flight control system can maintain the balance of the drone and ensure that it remains stable in different flight environments;

[0113] The route planning function enables the drone to fly according to a predetermined flight route or target. The flight control system calculates the flight path of the drone and controls it in the correct direction by combining GPS positioning data and preset waypoints (or target points);

[0114] The flight control system achieves real-time diagnosis through the self-check function. When an erroneous hardware circuit signal or software error is detected, it can automatically repair and switch to avoid potential dangers to flight safety caused by the fault. During the flight, if the drone encounters an abnormal situation (such as motor failure, sensor failure, etc.), the flight control system can quickly take protective measures, such as lowering the flight altitude, adjusting the flight speed or automatically returning, etc., to ensure the safety of the drone and ground personnel.

[0115] Specifically, the power system of the present invention includes motor control and battery management. The motor control accurately controls the motor speed through an electronic speed regulator, thereby adjusting the flight speed of the UAV; the battery management can monitor the battery power and status to ensure that the battery operates within a safe range, optimize the battery usage efficiency, and extend the flight time.

[0116] Specifically, the avoidance system of the present invention includes environment perception and obstacle avoidance decision-making.

[0117] Environmental perception uses sensors to perceive the environmental information around the drone in real time, including the location and distance of obstacles;

[0118] Obstacle avoidance decision-making generates obstacle avoidance decision instructions based on the perceived environmental information to control the drone to avoid obstacles.

[0119] It should be noted that environmental perception is the primary task of the avoidance system. It uses a variety of sensors and technical means to monitor the flight environment around the drone in real time, including obstacles such as terrain, buildings, trees, and wires, as well as the position and dynamics of other aircraft. Through environmental perception, the drone can obtain comprehensive flight environment information and provide data support for subsequent obstacle avoidance decisions;

[0120] Sensors carried on drones, such as lidar, millimeter-wave radar, infrared sensors, ultrasonic sensors, and visual sensors, can measure and detect obstacles in the surrounding environment in real time.

[0121] Obstacle avoidance decision-making is the core task of the avoidance system. Based on the results of environmental perception, it calculates how the UAV should avoid obstacles during flight to ensure flight safety. Obstacle avoidance decision-making needs to comprehensively consider factors such as the UAV's flight speed, altitude, heading, and the location, size, and dynamic changes of obstacles to formulate the optimal obstacle avoidance strategy.

[0122] During the obstacle avoidance decision-making process, the flight control system will receive data from the environmental perception module in real time and analyze the best obstacle avoidance path through algorithms. The obstacle avoidance strategy may include changing the flight speed, adjusting the flight altitude, changing the heading, or performing complex maneuvers, etc. The flight control system will adjust the obstacle avoidance strategy in real time according to the actual flight status of the drone and the situation of the obstacles to ensure that the drone can safely bypass the obstacles.

[0123] Specifically, the redundant control system of the present invention includes monitoring and taking over control.

[0124] Monitoring can monitor the operating status of the main control system and immediately start the redundant control system once a fault or abnormality is detected;

[0125] Takeover control allows the redundant control system to quickly take over flight control when the main control system fails, ensuring the safe landing or return of the drone.

[0126] It should be noted that drones are equipped with a variety of sensors, such as gyroscopes, accelerometers, magnetometers, barometers, etc. In order to improve the accuracy and reliability of the data, each sensor may have multiple backups. When a sensor fails, other sensors can provide accurate data to ensure that the drone can make correct flight decisions.

[0127] For example, by installing two or more barometers on a drone, when one of the barometers fails, the other barometers can still provide accurate altitude information.

[0128] Combining the advantages of hardware redundancy and software redundancy, a hybrid redundancy design is adopted. For example, multiple flight control boards and sensors are installed at the hardware level, and multiple flight control algorithms are run at the software level. The advantage of hybrid redundancy is that it combines the advantages of hardware and software redundancy to improve the overall reliability and flexibility of the system; the disadvantage is that the design and implementation complexity is relatively high.

[0129] Specifically, the data encryption and communication system of the present invention includes data encryption, communication protocol selection, identity authentication and access control.

[0130] Data encryption can encrypt the communication data between the drone and the ground control station to prevent the data from being stolen or tampered with;

[0131] Communication protocol selection: You can choose a secure and reliable communication protocol, such as TLS / SSL, to ensure the security and integrity of data transmission;

[0132] Authentication and access control can authenticate and control access to users accessing drone monitoring data, ensuring that only authorized users can access and operate the drone system.

[0133] It should be noted that transmission encryption and storage encryption are used when encrypting data, among which transmission encryption is the use of encryption algorithms to encrypt data during the data transmission process between the drone and the ground control station.

[0134] For example, the Advanced Encryption Standard (AES) algorithm is a symmetric encryption algorithm that uses the same key for encryption and decryption. By establishing an encrypted channel between the drone's communication module and the ground control station's receiving module, monitoring data such as video, images, and flight parameters are encrypted before transmission. In this way, even if the data is intercepted during transmission, a third party without the key cannot decipher the data content.

[0135] Storage encryption means that the data in the drone storage device also needs to be encrypted.

[0136] For example, full disk encryption technology can be used to encrypt and store data in the drone's built-in memory card or hard disk. When data is written to the storage device, it is automatically encrypted, and when the data is read, the corresponding key is required to decrypt it. This can prevent the data from being easily accessed after the drone is lost or the storage device is illegally obtained.

[0137] When selecting communication protocols, communication protocols need to be constantly updated to cope with emerging security threats.

[0138] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0139] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV) capable of improving flight safety, characterized in that: It includes a flight control system, a power system, a detection system, an avoidance system, a redundant control system, and a data encryption and communication system. The specific control method includes the following steps: S1. Pre-flight preparation and inspection; S2. Flight control system operation, including: S21. Takeoff: Place the drone on a flat surface, turn on the power switch, provide power through the power system, wait for the drone to establish a connection with the remote controller, use the remote controller to control the drone to take off, and hover stably at a certain height, observe the deviation direction of the drone and make necessary adjustments; S22, flight direction control: control the flight direction of the drone through the direction keys on the remote controller. During the flight, the flight control system will collect flight data in real time and make adjustments according to the preset flight route and attitude control instructions; S23, Flight monitoring: The detection system can monitor the flight status of the UAV, including altitude, speed, attitude, etc., and generate accurate flight status and environmental models through data fusion technology; S24. When an obstacle appears in front of the aircraft, the obstacle avoidance sensor of the avoidance system can be used to avoid the obstacle, and the flight path can be planned by path planning technology; S25, Power system monitoring and management: The detection system monitors the battery power of the power system, and can adjust the motor speed and propeller thrust in time to ensure the flight safety of the UAV; S3, Redundant system intervention and data communication guarantee: When a UAV fails during flight, the redundant control system will immediately intervene and take over control, which can ensure that the UAV can continue to fly safely. At the same time, in an emergency, it ensures the stable operation of the data encryption and communication system, so as to maintain communication with the ground control station and report the status of the UAV in a timely manner; S4. Landing and subsequent processing.

2. A method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The specific steps of S1 include: S11. Check the status of the drone: including the power system, flight control system, detection system, avoidance system, redundant control system, and data encryption and communication system; When checking the power system, make sure the battery is fully charged, check whether the motor is running normally, and whether the propeller is intact and has no cracks; Flight control system inspection to ensure it is functioning properly, including settings for semi-autonomous or fully autonomous modes; During the inspection of the detection system, confirm that the sensors are working properly so as to collect flight data in real time; When checking the avoidance system, test the sensitivity of the obstacle avoidance sensor to ensure that it can accurately perceive the surrounding environment; During the redundant control system inspection, check whether the redundant sensors and control systems are configured properly to provide backup in case of failure of the primary system; Among them, data encryption and communication system detection ensures that the communication link is unobstructed and the encrypted communication settings are correct to prevent unauthorized access or interference; S12. Choose an open area with no obstructions for flying, and avoid flying near crowded places or buildings. S13. Understand the local weather conditions and flight restrictions, and set the drone's return altitude. Various equipment includes battery power, propellers, sensors, drone and remote control firmware, etc.

3. The method for controlling an unmanned aerial vehicle capable of improving flight safety according to claim 1, characterized in that: In S1, take-off and hovering skills training is also required, and the take-off and hovering skills include smooth take-off and hovering exercises; The smooth takeoff training first ensures that the ground is flat, then slowly pushes up the throttle to allow the drone to steadily rise to a height of 1-2 meters; The hovering exercise is to keep the drone stationary at a certain altitude and use the remote control to adjust the attitude and learn to balance the drift of the drone; The landing and subsequent processing in S4 specifically include the following steps: A1. Use the remote control to gradually reduce the throttle and control the drone to land smoothly. During the landing process, the flight control system will collect flight data in real time and make adjustments according to the preset landing instructions. A2. Collect all data during the flight, including flight status, environmental perception data, obstacle avoidance data, etc., and conduct subsequent analysis to optimize the flight control algorithm and path planning strategy; A3. Perform maintenance and inspection on the drone, including a comprehensive inspection of the flight control system, power system, detection system, avoidance system, redundant control system, and data encryption and communication systems to ensure that the drone is in good condition before the next flight.

4. The method for controlling an unmanned aerial vehicle capable of improving flight safety according to claim 1, characterized in that: The flight control system is responsible for the attitude control, navigation, positioning and communication of other systems of the UAV, and usually includes sensors, main control chips and communication modules, etc.; The power system is used to provide the UAV with the power required for flight, including a motor, a battery, and a motor controller; The detection system is used to monitor the flight status and environment of the drone in real time, such as obstacle detection and battery power monitoring, and usually includes cameras, radars, infrared sensors, and ultrasonic sensors; The avoidance system is used to integrate multiple sensors to detect and avoid obstacles and collisions in real time; The redundant control system is used to provide an additional control channel, which can take over the flight control when the main control system fails, ensuring the safe landing or return of the UAV; The data encryption and communication system is used to ensure the communication security between the UAV and the ground control station to prevent data leakage or malicious attacks.

5. The method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The sensors include gyroscopes, accelerometers, magnetometers, barometers, and GPS, etc. The gyroscope is used to measure angular velocity; The accelerometer is used to measure acceleration; The magnetometer is used to measure the Earth's magnetic field to determine the direction; The barometer is used to measure altitude; The GPS is used to provide location and speed information.

6. The method for controlling an unmanned aerial vehicle capable of improving flight safety according to claim 1, characterized in that: The flight control system includes attitude control, altitude and speed control, route planning, and fault diagnosis and protection; The attitude control monitors the attitude of the drone in real time through sensors, such as pitch, roll and yaw angles, and adjusts the attitude of the drone to keep it stable according to the preset flight mode and instructions; The altitude and speed control ensures that the UAV can maintain a suitable altitude and speed in different mission environments by precisely controlling the flight altitude and speed of the UAV; The route planning plans the flight route of the UAV according to the mission requirements to ensure that it can accurately reach the target location; The fault diagnosis and protection can enable the flight control system to detect and take corresponding protective measures in a timely manner when a fault occurs in the UAV.

7. The method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The power system includes motor control and battery management. The motor control accurately controls the motor speed through an electronic speed regulator to adjust the flight speed of the drone. The battery management can monitor the battery power and status to ensure that the battery operates within a safe range, optimize the battery usage efficiency, and extend the flight time.

8. The method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The avoidance system includes environmental perception and obstacle avoidance decision-making; The environmental perception uses sensors to perceive the environmental information around the drone in real time, including the location and distance of obstacles; The obstacle avoidance decision generates obstacle avoidance decision instructions based on the perceived environmental information to control the drone to avoid obstacles.

9. The method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The redundant control system includes monitoring and control. The monitoring can actually monitor the operating status of the main control system, and once a fault or abnormality is detected, the redundant control system can be immediately started; The takeover control can ensure that when the main control system fails, the redundant control system can quickly take over the flight control to ensure the safe landing or return of the drone.

10. The method for controlling a drone capable of improving flight safety according to claim 1, characterized in that: The data encryption and communication system includes data encryption, communication protocol selection, and identity authentication and access control; The data encryption can encrypt the communication data between the UAV and the ground control station to prevent the data from being stolen or tampered with; The communication protocol selection may select a secure and reliable communication protocol, such as TLS / SSL, etc., to ensure the security and integrity of data transmission; The identity authentication and access control can authenticate and control access to users who access drone monitoring data, ensuring that only authorized users can access and operate the drone system.

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