Unmanned aerial vehicle control method and control device

Abstract

The invention provides an unmanned aerial vehicle control method and device, and belongs to the technical field of unmanned aerial vehicle control, and the unmanned aerial vehicle control method comprises the steps: obtaining an energy parameter of a sound signal corresponding to a coordinate point; the three-dimensional coordinate system comprises a plurality of coordinate points, and each coordinate point corresponds to one piece of first position information; and determining second position information of the unmanned aerial vehicle based on the energy parameter of the sound signal and the first position information. The position of the unmanned aerial vehicle in the three-dimensional coordinate system can be determined through the energy parameters of the sound signals, accurate positioning of the unmanned aerial vehicle is achieved, and therefore the accurate control process of the unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) control, and in particular to a UAV control method and a control device. Background Art

[0002] Accurately positioning drones is an important part of drone control.

[0003] In related technologies, the position information of the drone is confirmed by a visual positioning system. The visual positioning system uses computer vision technology to analyze the captured images including the drone, calculate the relative position relationship between the drone and the reference object, thereby confirming the drone's position information and realizing the control of the drone.

[0004] However, in environments with poor lighting conditions and shadows (such as at night), it is difficult to obtain clear images, which makes it difficult for the visual positioning system to accurately obtain the location information of the drone. Summary of the Invention

[0005] Embodiments of the present invention provide a method and device for controlling a drone, so as to at least solve the problem in the above-mentioned related art that it is difficult to accurately obtain the location information of the drone.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling a drone, comprising:

[0007] Acquiring energy parameters of an acoustic signal corresponding to a coordinate point; wherein the three-dimensional coordinate system includes a plurality of the coordinate points, and each of the coordinate points corresponds to a first position information;

[0008] Determine second position information of the drone based on the energy parameter of the acoustic signal and the first position information.

[0009] Optionally, the method further includes:

[0010] Obtaining target location information of the UAV;

[0011] Based on the second position information and the target position information, the drone is controlled to move to a position corresponding to the target position information.

[0012] Optionally, determining the second position information of the UAV based on the energy parameter of the acoustic signal and the first position information includes:

[0013] Determine the target coordinate point corresponding to the energy parameter of the maximum acoustic signal;

[0014] The first position information corresponding to the target coordinate point is confirmed as the second position information.

[0015] Optionally, the method further includes:

[0016] Obtaining at least two pieces of second position information of the UAV within a target time period;

[0017] The three-dimensional coordinate system is adjusted according to the at least two pieces of second position information, wherein the three-dimensional coordinate system includes a plurality of grids, and the adjusted grids are adapted to the shape of the drone.

[0018] Optionally, the method further includes:

[0019] Based on the second position information of the UAV, a collection range of a collection device for collecting the acoustic signal is adjusted.

[0020] Optionally, before the step of obtaining the energy parameter of the acoustic signal corresponding to the coordinate point, the method further includes:

[0021] Acquiring image information corresponding to the drone;

[0022] The third position information of the drone is confirmed based on the image information.

[0023] Optionally, after the step of confirming the third location information of the drone, the method further includes:

[0024] Based on the third position information of the drone, a collection range of a collection device for collecting the acoustic signal is confirmed, where the collection range includes a spatial area where the drone is located.

[0025] Optionally, confirming the collection range of the collection device based on the third position information of the drone includes:

[0026] The collection range of the collection device is confirmed according to the separation distance information and the azimuth information, wherein the third position information includes the separation distance information and the azimuth information of the drone relative to the origin of the three-dimensional coordinate system.

[0027] Optionally, controlling the drone to move to a position corresponding to the target position information based on the second position information and the target position information includes:

[0028] Planning a running path of the UAV according to the second position information and the target position information; an end point of the running path is determined by the target position information;

[0029] Control the UAV to run according to the running path.

[0030] Optionally, controlling the UAV to run according to the running path includes:

[0031] When the second position information of the UAV indicates that the UAV deviates from the running path by a preset distance threshold, the UAV is controlled to return to the running path.

[0032] In a second aspect, an embodiment of the present invention provides a drone control device for implementing the method described in any one of the first aspects of the present invention, the control device comprising:

[0033] An acquisition device, the acquisition device is used to obtain energy parameters of the acoustic signal corresponding to the coordinate point; the three-dimensional coordinate system includes a plurality of the coordinate points, each of the coordinate points corresponds to a first position information; and

[0034] A processing device is used to determine the second position information of the drone based on the energy parameter of the acoustic signal and the first position information.

[0035] Optionally, the collection device includes:

[0036] A sound collector, the sound collector is used to obtain energy parameters of the sound signal, and

[0037] An image collector is used to obtain image information.

[0038] Optionally, the image collector and the sound collector are integrated into the main body of the collection device.

[0039] Optionally, a plurality of the sound collectors are arranged in an array at intervals on the outer surface of the main body of the collection device.

[0040] Optionally, the spacing distances between the multiple sound collectors are the same or different.

[0041] Optionally, a plurality of the image collectors are arranged on the top of the outer surface of the main body of the acquisition device.

[0042] Optionally, the outer surface of the main body of the collection device is a curved surface.

[0043] Optionally, the geometric shape of the main body of the collection device is a spherical segment, and the outer surface of the main body of the collection device is a spherical cap of the spherical segment.

[0044] Optionally, the energy parameters of the acoustic signal include: amplitude, sound intensity, sound power and sound pressure level of the acoustic signal.

[0045] Optionally, the sound signal emitted by the drone during operation is in a target frequency band, and the sound collector is used to collect the sound signal in the target frequency band.

[0046] In a third aspect, an embodiment of the present invention further provides a vehicle, comprising the control device as described in any one of the second aspects above.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] In an embodiment of the present invention, energy parameters of the acoustic signal corresponding to the coordinate point in the three-dimensional coordinate system are obtained, and each coordinate point corresponds to a first position information. The second position information of the UAV in the three-dimensional coordinate system can be obtained through the energy parameters and the first position information of the coordinate point. The second position information is calibrated by the coordinate point, which can realize the accurate positioning of the UAV in the three-dimensional coordinate system; and the energy parameters of the acoustic signal are used to confirm the position information of the UAV, without relying on lighting conditions, so that the UAV can be accurately positioned in scenes with poor visual environments such as at night; therefore, the technical solution provided by the embodiment of the present invention can accurately obtain the position information of the UAV during the control of the UAV, realize the precise positioning of the UAV, and thus ensure the accurate execution of the UAV control process.

[0049] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0051] Figure 1 A flowchart of a method for controlling a drone according to an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of image information acquisition provided by an embodiment of the present invention;

[0053] Figure 3 A schematic diagram of acoustic signal acquisition provided by an embodiment of the present invention;

[0054] Figure 4 Another acoustic signal acquisition schematic diagram provided by an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the operation of each functional module in the control device provided by an embodiment of the present invention.

[0056] Figure 6 A schematic diagram of the top view of the collection device provided in an embodiment of the present invention.

[0057] Reference numerals:

[0058] 10: Control device; 20: UAV; 30: Cube grid; 11: Collection device; 111: Sound collector; 112: Image collector. DETAILED DESCRIPTION

[0059] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention may be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0060] Figure 1 An embodiment of the present invention provides a method for controlling a drone, comprising:

[0061] Step 101: Acquire energy parameters of an acoustic signal corresponding to a coordinate point; a three-dimensional coordinate system includes a plurality of the coordinate points, each of which corresponds to a first position information.

[0062] Achieving precise positioning of drones is the key to unmanned control. Visual positioning systems are a commonly used positioning method in the drone field. Visual positioning systems rely on computer vision to locate drones and depend on the clarity of the captured images. In scenes with poor lighting conditions (such as poor lighting, shadows, etc.), it is difficult to obtain clear images, making it difficult to accurately obtain the drone's position information, which in turn affects the drone's control process.

[0063] To this end, an embodiment of the present invention provides a drone control method in a first aspect, so as to at least overcome the problem that it is difficult for the drone to accurately obtain its location information.

[0064] Reference Figure 2 , Figure 2 A schematic diagram of sound signal acquisition provided by an embodiment of the present invention; in the drone control method provided by an embodiment of the present invention, energy parameters of the sound signal corresponding to the coordinate point in the three-dimensional coordinate system are obtained, and each coordinate point corresponds to a first position information, that is, each coordinate point has a position coordinate; it can be understood that when the drone is in the three-dimensional coordinate system, the position of the drone can be represented by the position coordinates of the coordinate point in the three-dimensional coordinate system, that is, the position of the drone can be represented by the first position information; when the drone is running, it will generate a sound signal as a sound source, and the sound signal has an energy parameter (such as the power of the sound signal). By obtaining the energy parameters of the sound signal of the coordinate point in the three-dimensional coordinate system, the position information of the coordinate point of the sound source that emits the sound signal can be determined.

[0065] For example, the three-dimensional coordinate system may include any one of a three-dimensional Cartesian coordinate system, a spherical polar coordinate system, and a cylindrical coordinate system. Figure 2 Only the three-dimensional coordinate system corresponding to the three-dimensional Cartesian coordinate system is shown.

[0066] After the energy parameters of the acoustic signals corresponding to the coordinate points are obtained, step 102 may be performed based on the energy parameters of the coordinate points.

[0067] Step 102: Determine second position information of the UAV based on the energy parameter of the acoustic signal and the first position information.

[0068] Because the frequency fluctuations of the acoustic signal emitted by a running drone are small, the frequency remains within a stable frequency band and is relatively stable. Therefore, the drone can be considered a stable sound source. A stable sound source can be characterized by the energy parameters of the acoustic signal emitted by the sound source. Therefore, based on the energy parameters of the acoustic signal and the first position information in the three-dimensional coordinate system, the drone's second position information can be obtained, that is, the drone's position coordinates in the three-dimensional coordinate system can be determined, thereby achieving the positioning of the drone. It is understandable that in scenes with poor lighting conditions, such as at night, the drone's acoustic signal is not affected. That is, the energy parameters of the drone's acoustic signal can remain stable. Therefore, the acquisition of the drone's second position information is not affected, thereby ensuring the accuracy of the drone's second position information and achieving precise positioning of the drone during the drone control process.

[0069] For example, refer to Figure 2 ,The second position information of the UAV can be represented by the position coordinates (x1, y1, z1), where x1, y1, z1 are the projections of the line connecting the UAV and the origin O of the three-dimensional coordinate system on the X-axis, Y-axis, and Z-axis respectively.

[0070] In an embodiment of the present invention, energy parameters of the acoustic signal corresponding to the coordinate point in the three-dimensional coordinate system are obtained, and each coordinate point corresponds to a first position information. The second position information of the UAV in the three-dimensional coordinate system can be obtained through the energy parameters and the first position information of the coordinate point. The second position information is calibrated by the coordinate point, which can realize the accurate positioning of the UAV in the three-dimensional coordinate system; and the energy parameters of the acoustic signal are used to confirm the position information of the UAV, without relying on lighting conditions, so that the UAV can be accurately positioned in scenes with poor visual environments such as at night; therefore, the technical solution provided by the embodiment of the present invention can accurately obtain the position information of the UAV during the control of the UAV, realize the precise positioning of the UAV, and thus ensure the accurate execution of the UAV control process.

[0071] Optionally, the method may further include:

[0072] Step 103: Obtain target location information of the UAV;

[0073] Step 104: Based on the second position information and the target position information, control the drone to move to a position corresponding to the target position information.

[0074] During the operation of the drone, the sound signal emitted by the drone as a sound source is in a relatively stable frequency range, so the corresponding sound power is also relatively stable. Therefore, the purpose of accurately tracking the drone can be achieved by tracking the energy parameters of the sound signal at each coordinate point in the three-dimensional coordinate system; after obtaining the second position information of the drone, an operation instruction can be sent to the drone based on the second position information and the target position information of the drone, so that the drone moves to the target position, thereby realizing the movement control of the drone.

[0075] After obtaining the second position information of the drone, an operation instruction can be sent to the drone based on the second position information, so that the drone moves to the position represented by the target position information, thereby realizing the movement control of the drone. The target position information is used to represent the expected movement position of the drone, and the target position can be any coordinate point in the three-dimensional coordinate system. In the above implementation process, by collecting the energy parameters of the acoustic signal, the second position information of the drone, that is, the position coordinates of the coordinate point corresponding to the drone, can be determined in the three-dimensional coordinate system, thereby realizing the precise positioning of the drone. According to the second position information of the drone, the movement control of the drone can be realized; positioning through acoustic signals is no longer restricted by lighting conditions, so that the drone can be accurately positioned in low-visibility or non-visible environments such as at night, and further realizes the precise movement control of the drone, thereby broadening the application scenarios of the drone.

[0076] Optionally, step 101 may include:

[0077] Sub-step 1011: confirming the target coordinate point corresponding to the energy parameter of the maximum acoustic signal;

[0078] Sub-step 1012: confirm the first position information corresponding to the target coordinate point as the second position information.

[0079] Given that the frequency of the sound signals emitted by drones during operation is within a stable frequency band, it is possible to collect sound signals within a preset frequency band and obtain the energy parameters corresponding to these sound signals. The preset frequency band represents the stable frequency band within which the sound signals emitted by drones during operation are located. During operation, the frequency of the sound signals emitted by drones may change or fluctuate based on different actions (such as takeoff and landing, acceleration and deceleration, etc.), but the final result of the above changes remains within the preset frequency band. For example, if the preset frequency band value interval is [a1Hz, a2Hz] and the sound signal emitted by the drone is aHz, then a1≤a≤a2 is always true.

[0080] Due to the vibration and sound of the drone, the energy parameter of the coordinate point where the drone is located will be significantly higher than that of the surrounding coordinate points. It is understandable that since the sound signal propagates in space in the form of spherical waves or conical waves, the coordinate points around the drone will also capture the sound signal with gradually attenuated energy parameters. Therefore, among multiple coordinate points, the target coordinate point with the largest energy parameter can be selected as the coordinate point where the drone is located, that is, the first position information of the target coordinate point is used as the second position information of the drone.

[0081] For example, the set of coordinate points in the three-dimensional coordinate system is G, and each coordinate point in G corresponds to an energy parameter value. The energy parameter value corresponding to the coordinate point G1 is greater than the energy parameter values of all other coordinate points in G. Then the first position information represented by G1 is the second position information of the drone.

[0082] The above process only collects sound signals in the preset frequency band, effectively avoiding interference from non-UAV sound sources in space. By using the first position information of the target coordinate point with the largest energy parameter as the second position information of the UAV, the exact position of the UAV is determined in the three-dimensional coordinate system.

[0083] Optionally, the confirmation of the target coordinate point corresponding to the energy parameter of the maximum acoustic signal includes: when there are multiple first coordinate points whose energy parameters are all target energy parameters, selecting a second coordinate point in the three-dimensional coordinate system; the second coordinate point and the first coordinate point are different coordinate points; the target energy parameter is the maximum energy parameter; collecting the energy parameter of the second coordinate point at a first moment; controlling the drone to move to the second coordinate point at a preset speed, and collecting the energy parameter of the second coordinate point again at a second moment after a preset time interval; confirming the change value of the energy parameter of the acoustic signal of the second coordinate point between the first moment and the second moment; when the change value is greater than the preset change value, taking the second coordinate point as the target coordinate point.

[0084] In some embodiments, when multiple drones of the same model but belonging to different groups enter a three-dimensional coordinate system, there will be multiple stable sound sources. The sound signals of these sound sources are all within a preset frequency band, and their corresponding energy parameters may be consistent. In this case, the energy parameters of multiple coordinate points may all be target energy parameters, that is, they are all maximum values. To this end, it is necessary to select a coordinate point corresponding to the drone belonging to this solution from the multiple coordinate points. The drone can receive instructions from a matching communication device. To this end, when a first coordinate point with multiple target energy parameters is detected, a preset instruction can be sent to the drone to move the drone to a second coordinate point at a preset speed, while monitoring the change in the sound signal energy parameter of the second coordinate point. That is, the sound signal energy parameter of the second coordinate point is obtained at a first moment, and the sound signal energy parameter of the second coordinate point is obtained at a second moment after the drone starts moving for a preset time interval. In this way, the change value of the sound signal energy parameter of the second coordinate point between the first moment and the second moment is obtained. When the change value of the sound signal energy parameter of the second coordinate point is greater than the preset change value, it can be confirmed that the drone belonging to this solution is located at the second coordinate point, and the other first coordinate points are all interference sound sources, that is, the second coordinate point is the target coordinate point, and the first position information of the second coordinate point is the second position information of the drone.

[0085] In the above process, a preset movement instruction is sent to the drone, and the change of the acoustic signal energy parameter of the second coordinate point is monitored at the same time. When the change of the acoustic signal energy parameter of the second coordinate point after the preset movement instruction indicates that the second coordinate point has changed significantly, the drone that matches the communication device that issued the preset movement instruction can be confirmed, thereby avoiding interference with coordinate positioning by other drones of the same model, ensuring the accuracy of the drone's position coordinates, and further ensuring the accuracy and reliability of the drone's movement control.

[0086] Optionally, the method may further include:

[0087] Step 105: Acquire at least two pieces of the second position information of the UAV within a target time period;

[0088] Step 106: Adjust the three-dimensional coordinate system according to the at least two pieces of second position information, wherein the three-dimensional coordinate system includes a plurality of grids, and the adjusted grids are adapted to the shape of the drone.

[0089] When controlling a drone, the accuracy of the three-dimensional coordinate system can be determined based on the distance between the drone and the acquisition device. The accuracy of the three-dimensional coordinate system here can be understood as the scale interval on the corresponding axis of the coordinate system. Figure 2 When the three-dimensional coordinate system is a three-dimensional Cartesian coordinate system, the detection range is divided into a plurality of cubic grids 30 ( Figure 2Only one cubic grid is drawn in the figure), and the coordinate points in the three-dimensional coordinate system constitute the vertices of the cubic grid, thereby determining the accuracy of the three-dimensional coordinate system, that is, determining the size of these cubic grids (depending on the scale interval of the coordinate axes in the three-dimensional Cartesian coordinate system, these cubic grids can be cubes or rectangular parallelepipeds).

[0090] The space where the three-dimensional coordinate system is located is divided into multiple cubic grids; the vertices of the cubic grids are used as coordinate points; during the movement of the drone, the distance between it and the collection device that collects the sound signal will continue to change; for example, when the drone needs to dock near the collection device, the drone will continue to move closer to the location of the collection device, that is, the position coordinates of the drone will be closer and closer to the position coordinates of the collection device, which will cause the size of the cubic grid corresponding to the three-dimensional coordinate system to no longer be applicable. For example, when the drone moves to a range of 80m-100m from the collection device, the size of the cubic grid can be set to 100cm, but when the drone moves to a range of 5m from the collection device, the size setting of 100cm will become too large, and it will be difficult to control the drone to make the expected movement according to the first position information of the coordinate point of the three-dimensional coordinate system corresponding to the size of the cubic grid; for this reason, during the movement of the drone, the size of the cubic grid corresponding to the three-dimensional coordinate system needs to be adjusted so that the accuracy of the three-dimensional coordinate system matches the changes in the positioning accuracy of the drone.

[0091] The position of the collection device that can acquire the acoustic signal is used as the origin of the three-dimensional coordinate system; based on the second position information of the drone, a first distance between the drone and the origin of the three-dimensional coordinate system is determined; by acquiring at least two pieces of the second position information of the drone within a target time period, changes in the first distance are confirmed; and based on the changes in the first distance, the size of the cubic grid is adjusted. When the first distance increases, the size of the cubic grid is increased; when the first distance decreases, the size of the cubic grid is decreased. By adjusting the size of the cubic grid, the shape and volume of the drone can be adapted to the adjusted cubic grid, thereby obtaining more accurate second position information of the drone in the adjusted three-dimensional coordinate system.

[0092] An optional adjustment method is to adjust the size of the cube grid corresponding to the three-dimensional coordinate system based on the distance between the drone and the origin. The origin refers to the origin of the three-dimensional coordinate system, and the location of the collection device that collects the acoustic signal can be used as the origin of the three-dimensional coordinate system. It is understood that the geometric shape of the space corresponding to the detection range of the collection device can be a sphere. In this regard, the detection range can be divided into multiple concentric spherical shells from the origin outward according to the radius of the sphere. The inner diameter and outer diameter of each spherical shell represent the lower limit and upper limit of a distance interval. Thus, the detection range is divided into multiple intervals, and each interval is set with a corresponding preset value of the cube grid size. When the first distance between the drone and the origin falls within an interval, the preset value corresponding to the interval is used as the size of the cube grid corresponding to the three-dimensional coordinate system. It is understood that the closer the interval is to the origin, the smaller the preset value corresponding to the interval, the smaller the size of the cube grid, and the higher the accuracy of the corresponding three-dimensional coordinate system.

[0093] The above process achieves the adaptation of the accuracy of the three-dimensional coordinate system by adjusting the size of the cube grid corresponding to the three-dimensional coordinate system according to the change of the first distance between the drone and the origin during the movement of the drone, so that the change of the accuracy of the three-dimensional coordinate system matches the change of the distance during the movement of the drone.

[0094] Optionally, the method may further include:

[0095] Step 107: Based on the second position information of the UAV, adjust the collection range of the collection device for collecting the acoustic signal.

[0096] After obtaining the second position information of the UAV, the collection range of the collection device can be adjusted based on the second position information of the UAV, that is, according to the real-time position coordinates of the UAV in the three-dimensional coordinate system, the target space area that moves with the UAV is divided, and the subsequent collection device only collects the energy parameters of the sound signal of the coordinate point in the three-dimensional coordinate system located in the target space area, that is, adjusts the collection range of the collection device; in this way, the workload of the collection device can be reduced, so that the position coordinates of the UAV can be quickly tracked during the movement of the UAV, thereby achieving rapid response of the UAV.

[0097] Optionally, before step 101, the following steps may also be included:

[0098] Step 108: Acquire image information corresponding to the drone;

[0099] Step 109: Confirm the third position information of the drone based on the image information.

[0100] Reference Figure 3 , Figure 3The image information acquisition diagram provided in the embodiment of the present invention is as follows. In some embodiments of the present invention, the acquisition device can also be configured to acquire image information; in the acquired image information, the image features representing the drone 20 are extracted, thereby calculating the position information of the drone, that is, confirming the third position information of the drone based on the acquired image information. Further, referring to Figure 4 , Figure 4 Another acoustic signal acquisition schematic diagram provided for an embodiment of the present invention, according to the image information, can obtain the third position information of the drone based on the image information after identifying the drone 20, and confirm the acquisition range of the acquisition device based on the third position information, further reducing the amount of calculation required to determine the second position information of the drone based on the energy parameters and the first position information of the acoustic signal, thereby improving the efficiency of drone positioning.

[0101] Optionally, after step 109, the following steps may also be included:

[0102] Step 110: Based on the third position information of the drone, determine the collection range of the collection device for collecting the acoustic signal, where the collection range includes the spatial area where the drone is located.

[0103] By obtaining the third position information from the image information, the approximate position and preset operating range of the drone can be determined, that is, based on the third position information, the spatial area where the drone is located can be divided, thereby limiting the range of the sound signal energy parameters collected by the acquisition device. It can be understood that the spatial area where the drone is located is a subspace of the acquisition range of the acquisition device. The spatial area where the drone is located can be represented by a set of coordinate points in the spatial area where the drone is located, and the spatial area where the drone is located can be represented by a set of first position information.

[0104] Optionally, step 110 may include:

[0105] Sub-step 1111: confirm the collection range of the collection device based on the interval distance information and the azimuth information, wherein the third position information includes the interval distance information and the azimuth information of the drone relative to the origin of the three-dimensional coordinate system.

[0106] The drone's third position information can include the drone's azimuth or distance information relative to a calibration reference object. In this embodiment, the calibration reference object can be set as the origin of a three-dimensional coordinate system, that is, the location of the acquisition device that collects the acoustic signal is used as the origin of the three-dimensional coordinate system. Based on the distance and azimuth information between the drone and the origin, the acquisition range of the acquisition device can be divided within the three-dimensional coordinate system, thereby reducing the workload of the acquisition device.

[0107] In the above steps 108 to 110, the third position information of the drone is confirmed through image information, and the collection range of the collection device is confirmed through the third position information. Combined with the sound source positioning based on the sound signal energy parameters and the computer vision positioning based on the image information, the speed of positioning the drone in the three-dimensional coordinate system is improved, thereby improving the efficiency of achieving precise control of the drone.

[0108] Optionally, step 104 may include:

[0109] Sub-step 1041: planning a flight path for the UAV based on the second location information and the target location information; the endpoint of the flight path is determined by the target location information;

[0110] Sub-step 1042: Control the UAV to run according to the running path.

[0111] After determining the drone's second position information, the drone's path can be planned based on the drone's second position information and the target location information of the drone's intended destination, establishing precise navigation for the drone's movement to the target location. The above process, using the drone's second position information and the target location information to plan the drone's path and control the drone's movement along the path, can achieve positioning and tracking of the drone's position during movement, allowing the drone to achieve precise movement to the target location by moving between coordinate points in a three-dimensional coordinate system.

[0112] Optionally, sub-step 1042 may include:

[0113] Sub-step 10421: When the second position information of the drone indicates that the drone has deviated from the operating path by a preset distance threshold, the drone is controlled to return to the operating path. During the navigation process, the drone's movement is monitored based on the second position information of the drone. When the second position information of the drone indicates that the drone has deviated from the operating path by a preset distance threshold, the drone is determined to have deviated from the route and a response mechanism is activated: the drone is controlled to move to the coordinate point on the original operating path that is closest to the coordinate point corresponding to the drone's current second position information, thereby returning the drone to the operating path. Monitoring the drone's position coordinates and providing feedback on the drone's deviation from the route ensures that the drone moves along the set route and accurately reaches the target location.

[0114] Reference Figure 5 , which is a schematic diagram of the operation of each functional module in the control device provided by an embodiment of the present invention, Figure 5 The drone control method according to an embodiment of the present invention is described from the perspective of functional modules; these functional modules are provided in a drone control device for implementing the drone control method.

[0115] exist Figure 5 In the embodiment shown, the image acquisition module 1 performs image acquisition, captures images within the detection range, and transmits the captured images (i.e., image information) to the recognition module 3. The recognition module 3 uses a visual algorithm to identify the drone in the image captured by the image acquisition module 1.

[0116] Once the recognition module 3 detects the presence of a drone, the ranging module 2 begins operation. It first analyzes the image transmitted by the image acquisition module 1 and calculates the distance between the drone and the acquisition device. Once the distance between the drones within the detection range is determined, the ranging module 2 performs measurements within the approximate range determined by the distance information to determine the spatial area where the drones are located.

[0117] After the ranging module 2 outputs the spatial area where the drone is located, the signal acquisition module 4 starts working. The drone propeller will generate sound waves (acoustic signals) in a specific frequency band during flight, capture the energy parameters of the acoustic signals of each coordinate point in the spatial area where the drone is located, and transmit them to the positioning module 5.

[0118] Positioning module 5 establishes a three-dimensional coordinate system before other modules begin operating, and creates a three-dimensional grid with the acquisition device as the origin. After obtaining the energy parameters of the acoustic signal, the grid point where the drone is located will have a higher energy parameter than other surrounding grid points in a specific frequency band. The coordinates of the grid points with higher energy parameters are selected, and the coordinates of the grid points with the highest energy parameters are obtained. The coordinate point with the highest acoustic power is the target coordinate point, that is, the coordinate point of the drone's location. The coordinates corresponding to the target coordinate point are the drone's second position information.

[0119] The function of the communication module 6 is to transmit the second position information (the position coordinates of the drone) output by the positioning module 5 to the control module 7, and to transmit the instructions output by the control module 7 to the drone, thereby controlling the movement of the drone.

[0120] Control module 7 controls the movement of the drone. Upon receiving the drone's second position information from positioning module 5, control module 7 combines it with the drone's target position information to plan the drone's flight path. Based on the coordinates of the points represented by the second position information, control module 7 controls the drone to move to the target location. Feedback correction module 8 monitors the drone's second position information in real time. If there is a deviation between the preset position and the actual position within the flight path, feedback correction module 8 sends preset instructions and the preset position information to communication module 6, enabling control module 7 to correct the drone's position.

[0121] In an embodiment of the present invention, energy parameters of the acoustic signal corresponding to the coordinate point in the three-dimensional coordinate system are obtained, and each coordinate point corresponds to a first position information. The second position information of the UAV in the three-dimensional coordinate system can be obtained through the energy parameters and the first position information of the coordinate point. The second position information is calibrated by the coordinate point, which can realize the accurate positioning of the UAV in the three-dimensional coordinate system; and the energy parameters of the acoustic signal are used to confirm the position information of the UAV, without relying on lighting conditions, so that the UAV can be accurately positioned in scenes with poor visual environments such as at night; therefore, the technical solution provided by the embodiment of the present invention can accurately obtain the position information of the UAV during the control of the UAV, realize the precise positioning of the UAV, and thus ensure the accurate execution of the UAV control process.

[0122] In a second aspect, the present invention provides a control device 10 for implementing the method described in any one of the first aspects of the embodiments of the present invention; Figure 2 、 Figure 3 and Figure 4 The control device 10 includes: an acquisition device 11, which is used to obtain energy parameters of the acoustic signal corresponding to the coordinate point; a three-dimensional coordinate system includes multiple coordinate points, each coordinate point corresponds to a first position information; and a processing device (not shown in the figure), which is used to determine the second position information of the drone based on the energy parameters of the acoustic signal and the first position information.

[0123] Optional, see Figure 6 The acquisition device 11 includes a sound collector 111 for acquiring energy parameters of an acoustic signal, and an image collector 112 for acquiring image information.

[0124] The sound collector 111 may be a microphone; the image collector 112 may be a wide-angle camera or a panoramic camera.

[0125] Further reference Figure 5 The image acquisition module 1, the distance measurement module 2 and the sound signal acquisition module 4 can be integrated into Figure 6 In the acquisition device 11, it can be understood that the image acquisition module 1 corresponds to the image collector 112, and the sound signal acquisition module 4 corresponds to the sound collector 111; Figure 5 The other modules in the system are arranged in the processing device.

[0126] Optional, see Figure 6 The image collector 112 and the sound collector 111 are integrated into the main body of the collection device 11.

[0127] like Figure 6As shown, the image collector 112 and the sound collector 111 are integrated on the main body of the collection device 11, thereby saving the space occupied by the collection device and increasing the space utilization rate of the device where the collection device 11 is located.

[0128] Optional, see Figure 6 A plurality of sound collectors 111 are arranged in an array at intervals on the outer surface of the main body of the collection device 11 .

[0129] By arranging the array of sound collectors 111 at intervals on the outer surface of the main body of the collection device 11, multiple sound collectors 111 can collect sound signals emitted by the same sound source at different positions. Since the time it takes for the sound signal to reach each sound collector 111 has different degrees of delay (time delay), the sound signal can be processed based on the time delay, thereby determining the position information of the sound source relative to the collection device 11.

[0130] The array arrangement can include random array, basic pattern array, spiral array, etc.

[0131] Optionally, the intervals between the multiple sound collectors 111 are the same or different.

[0132] The interval distances of the sound collectors 111 can be the same or different. If they are the same, the dependence of the sound collectors 111 on the setting direction can be reduced. If they are different, the flexibility of the sound collectors 111 in obtaining the energy parameters of the sound signal can be improved.

[0133] Optional, combined with reference Figure 2 、 Figure 3 、 Figure 4 and Figure 6 , multiple image collectors 112 are set on the top of the outer surface of the main body of the collection device 11.

[0134] The image collector 112 is arranged on the top of the outer surface of the main body of the acquisition device 11, so as to maximize the field of view for obtaining image information and realize wide-angle coverage of the image collector 112; in addition, there can be multiple image collectors 112, and image information can be obtained by combining different image collectors 112 to analyze the third position information of the drone, thereby improving the accuracy and speed of obtaining the third position information of the drone.

[0135] Optional, combined with reference Figure 2 、 Figure 3 、 Figure 4 and Figure 6 The outer surface of the main body of the collection device 11 is a curved surface.

[0136] The outer surface of the main body of the acquisition device 11 is a curved surface, which can achieve wide-angle coverage of the acquisition device 11, avoid detection blind spots of the acquisition device 11, and integrate more sound collectors 111 and image collectors 112 in a limited space, thereby obtaining more accurate drone location information; the curved surface setting can also reduce the spatial aliasing problem of the sound signal, which is conducive to more accurate acquisition of the energy parameters of the sound signal of the coordinate point.

[0137] Optional, combined with reference Figure 2 、 Figure 3 、 Figure 4 and Figure 6 The geometric shape of the main body of the collection device is a spherical segment, and the outer surface of the main body of the collection device is the spherical cap of the spherical segment.

[0138] A preferred method is to set the main body of the collection device 11 exposed to the external environment as a spherical segment, that is, the part of the sphere cut off by a plane. At this time, the outer surface of the main body of the collection device 11 is the spherical cap of the spherical segment (that is, the remaining spherical surface). It can be understood that the spherical cap is a kind of arc surface; by setting the main body of the collection device 11 as a spherical cap, it is not only convenient for the processing of the main body of the collection device 11 and reduce the production cost of the collection device, but also can maximize the surface area of the outer surface of the main body of the collection device 11, thereby maximizing the number of sound collectors 111 and image collectors 112, and improving the accuracy of the control device in positioning the drone.

[0139] Optionally, the energy parameters of the sound signal include: amplitude, sound intensity, sound power and sound pressure level of the sound signal.

[0140] The energy parameters of the sound signal include but are not limited to the amplitude of the sound signal, the sound intensity of the sound signal, the sound power of the sound signal, and the sound pressure level of the sound signal. The sound pressure level is expressed in decibels on a logarithmic scale of the effective value of the sound pressure relative to the reference value of the sound pressure. The sound power represents the total power radiated by the sound source and is independent of the propagation medium. The sound intensity represents the sound power per unit area.

[0141] Optionally, the sound signal emitted by the drone during operation is in a target frequency band, and the sound collector is used to collect the sound signal in the target frequency band.

[0142] During the operation of the drone, the sound signal emitted by the drone as a sound source is in a relatively stable target frequency band, so the corresponding energy parameters are also relatively stable. Therefore, the sound signal in the target frequency band can be collected by a sound collector to obtain the energy parameters corresponding to the sound signal. For example, for some consumer-grade drones, the frequency band of the sound signal when hovering is 2-4kHz, and the frequency band when flying is 1-5kHz. By monitoring the sound signals in a specific frequency band, the interference of non-drone sound sources (such as flying birds) on the drone positioning can be avoided, thereby ensuring the precise operation of the control device.

[0143] To sum up, in an embodiment of the present invention, the energy parameters of the sound signal corresponding to the coordinate point in the three-dimensional coordinate system are obtained, and each coordinate point corresponds to a first position information. The second position information of the UAV in the three-dimensional coordinate system can be obtained through the energy parameters and the first position information of the coordinate point. The second position information is calibrated by the coordinate point, which can realize the accurate positioning of the UAV in the three-dimensional coordinate system; and the energy parameters of the sound signal are used to confirm the position information of the UAV, without relying on lighting conditions, so that the UAV can be accurately positioned in scenes with poor visual environments such as at night; therefore, through the technical solution provided by the embodiment of the present invention, the position information of the UAV can be accurately obtained during the control of the UAV, and the precise positioning of the UAV can be realized, thereby ensuring the accurate implementation of the UAV control process.

[0144] In a third aspect, the present invention provides a vehicle comprising the control device provided in the second aspect; the beneficial effects and corollaries thereof are similar to or consistent with those of the control device in the second aspect, and are not described in detail herein.

[0145] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0146] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. The embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions thereof are generally similar to the method embodiments, so their description is relatively simple. For related portions, reference can be made to the description of the method embodiments.

[0147] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A method for controlling a drone, characterized in that: The method comprises: Acquiring energy parameters of an acoustic signal corresponding to a coordinate point; wherein the three-dimensional coordinate system includes a plurality of the coordinate points, and each of the coordinate points corresponds to a first position information; Determine second position information of the drone based on the energy parameter of the acoustic signal and the first position information.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining target location information of the UAV; Based on the second position information and the target position information, the drone is controlled to move to a position corresponding to the target position information.

3. The method according to claim 1, characterized in that The determining, based on the energy parameter of the acoustic signal and the first position information, the second position information of the UAV includes: Determine the target coordinate point corresponding to the energy parameter of the maximum acoustic signal; The first position information corresponding to the target coordinate point is confirmed as the second position information.

4. The method according to claim 1, wherein The method further comprises: Obtaining at least two pieces of second position information of the UAV within a target time period; The three-dimensional coordinate system is adjusted according to the at least two pieces of second position information, wherein the three-dimensional coordinate system includes a plurality of grids, and the adjusted grids are adapted to the shape of the drone.

5. The method according to claim 1, wherein The method further comprises: Based on the second position information of the UAV, a collection range of a collection device for collecting the acoustic signal is adjusted.

6. The method according to claim 1, characterized in that Before the step of obtaining the energy parameter of the acoustic signal corresponding to the coordinate point, the method further includes: Acquiring image information corresponding to the drone; The third position information of the drone is confirmed based on the image information.

7. The method according to claim 6, characterized in that After the step of confirming the third position information of the drone, the method further includes: Based on the third position information of the drone, a collection range of a collection device for collecting the acoustic signal is confirmed, where the collection range includes a spatial area where the drone is located.

8. The method according to claim 7, characterized in that The determining the collection range of the collection device based on the third position information of the drone includes: The collection range of the collection device is confirmed according to the separation distance information and the azimuth information, wherein the third position information includes the separation distance information and the azimuth information of the drone relative to the origin of the three-dimensional coordinate system.

9. The method according to claim 2, characterized in that The controlling the UAV to move to a position corresponding to the target position information based on the second position information and the target position information includes: Planning a running path of the UAV according to the second position information and the target position information; an end point of the running path is determined by the target position information; Control the UAV to run according to the running path.

10. The method according to claim 9, characterized in that The controlling the UAV to run according to the running path includes: When the second position information of the UAV indicates that the UAV deviates from the running path by a preset distance threshold, the UAV is controlled to return to the running path.

11. A drone control device, used to implement the method according to any one of claims 1 to 10, characterized in that: The control device comprises: An acquisition device, the acquisition device is used to obtain energy parameters of the acoustic signal corresponding to the coordinate point; the three-dimensional coordinate system includes a plurality of the coordinate points, each of the coordinate points corresponds to a first position information; and A processing device is used to determine the second position information of the drone based on the energy parameter of the acoustic signal and the first position information.

12. The control device according to claim 11, characterized in that The collection device comprises: A sound collector, the sound collector is used to obtain energy parameters of the sound signal, and An image collector is used to obtain image information.

13. The control device according to claim 12, characterized in that: The image collector and the sound collector are integrated into the main body of the collection device.

14. The control device according to claim 13, characterized in that The plurality of sound collectors are arranged in an array at intervals on the outer surface of the main body of the collection device.

15. The control device according to claim 14, characterized in that: The interval distances between the multiple sound collectors are the same or different.

16. The control device according to claim 13, characterized in that The plurality of image collectors are arranged on the top of the outer surface of the main body of the collection device.

17. The control device according to claim 13, characterized in that The outer surface of the main body of the collection device is a curved surface.

18. The control device according to claim 17, characterized in that The geometric shape of the main body of the collection device is a spherical segment, and the outer surface of the main body of the collection device is a spherical cap of the spherical segment.

19. The control device according to claim 11, characterized in that The energy parameters of the acoustic signal include: the amplitude, sound intensity, sound power and sound pressure level of the acoustic signal.

20. The control device according to claim 12, characterized in that The sound signal emitted by the drone during operation is in a target frequency band, and the sound collector is used to collect the sound signal in the target frequency band.

21. A vehicle, characterized in that: The vehicle comprises a control device as described in any one of claims 11-20.

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