Unmanned aerial vehicle safety distance control method based on aviation obstruction light

Abstract

The application provides an unmanned aerial vehicle safety distance control method based on an aviation obstruction light, and belongs to the technical field of unmanned aerial vehicle control, and comprises the following steps: when the unmanned aerial vehicle is close to the controller, the controller directly controls the unmanned aerial vehicle; when the unmanned aerial vehicle is close to an obstruction light of a current building area, the controller is connected to a data network, the obstruction light receives data input by the controller through the data network, controls the unmanned aerial vehicle, and completes data return; when the unmanned aerial vehicle is located in other building areas, a connection channel of the data network between different buildings is created, the position of the obstruction light closest to the unmanned aerial vehicle is determined, the controller realizes super-long distance control of the unmanned aerial vehicle through the connection channel, and the posture and position of the unmanned aerial vehicle are calibrated in a building model in real time. The unmanned aerial vehicle safety distance control method based on the aviation obstruction light can realize super-long distance control of the unmanned aerial vehicle, avoids signal delay and disconnection, can perform long distance tasks, and can cope with various complex scenes.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, relates to a method for controlling the safe distance of UAVs based on aviation obstruction lights. Background Technology

[0002] To ensure the safe operation of passenger planes and other aircraft, Chinese law mandates the installation of aviation obstruction lights on buildings exceeding a certain height. These lights are typically positioned at the corners of buildings to more clearly display their outlines and prevent collisions with aircraft or helicopters during nighttime flights.

[0003] In recent years, drone development has made significant progress, with controllers now covering increasingly larger flight radii. In some special situations, long-distance drone operations are required, and in other scenarios, multiple drones need to be controlled to fly along different routes. When these drones navigate between tall buildings, current technology cannot reliably guarantee the stable transmission of drone control signals. Furthermore, once the flight radius is exceeded, the drones lose control. Achieving precise control of multiple drones remains a problem that needs to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a method for controlling the safe distance of unmanned aerial vehicles (UAVs) based on aviation obstruction lights, which aims to solve the problems of not being able to achieve effective long-distance control of multiple UAVs and stable transmission of control signals.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a method for controlling the safe distance of a UAV based on aviation obstruction lights, comprising: The system accurately determines the location of the drone and calculates the distances between the drone, the controller, and each obstacle light in real time. When the drone is close to the controller, the controller directly controls the drone. When the drone is close to one of the obstacle lights in the current building area, the controller is connected to the data network. The obstacle light receives data input from the controller through the data network and controls the drone while transmitting data back. When the drone is located in other building areas, a connection channel is created between the data networks of different buildings, and the location of the obstacle light closest to the drone is determined. The controller achieves long-distance control of the drone through the connection channel. Based on the data transmitted back by the drone, its attitude and position are calibrated in the building model in real time.

[0006] In one possible implementation, the method further includes, before the real-time calculation of the distances between the drone and the controller, as well as the obstacle lights: Encode multiple obstruction lights within multiple building areas and upload their specific locations and coverage areas to the control console; The console determines the time when the controller accesses the data network based on the location of the drone, and enables the switching of control over the drone by different obstacle lights.

[0007] In one possible implementation, encoding multiple obstacle lights within multiple building areas and uploading their specific locations and coverage areas to the console includes: The data transmitted back by the drone is stored in the console in real time, and the controller is only used to display the data after it is transmitted back. The controller issues control commands, the console receives the control commands and simulates the motion trajectory, while generating possible motion results and finally transmitting them back to the controller. After obtaining permissions, the console can take over the controller to achieve remote long-distance control of the drone.

[0008] In one possible implementation, the console determines the time when the controller accesses the data network based on the location of the drone, including: Before the drone is started, the controller is connected to the data network, and communication between the controller and the console is established; When the drone is close to the controller, the console is in standby mode; When the drone is far from the controller, the console blocks or shuts down the controller's transmitter and transfers the controller's control commands to the data network.

[0009] In one possible implementation, the method further includes, before the real-time calculation of the distances between the drone and the controller, as well as the obstacle lights: Create a model of the current area, including multiple possible pathways, buildings, and the surrounding environment, and mark the location of each obstacle light and its coverage area in the model; The console determines the spatial location of the drone and its positional relationship relative to the model based on the drone's positioning device and the analysis results of the data transmitted back by the drone.

[0010] In one possible implementation, the obstruction light receiving data input from the controller via the data network and controlling the drone while simultaneously transmitting the data back includes: When it is necessary to control multiple drones simultaneously to operate on different routes, each drone is numbered. After numbering is completed, control gaps are established according to the number of the multiple drones. Each obstacle light intermittently sends control signals to the corresponding drone in the control area according to the control gaps. The control signals include the travel route and speed within a preset time interval. The control gaps are used to ensure uninterrupted flight of the drones and real-time control of the multiple drones.

[0011] In one possible implementation, the intermittent transmission of control signals from each of the obstacle lights to the corresponding UAV within the control area according to the control gap includes: Multiple travel routes for the drones are set within the control console. Based on the different positions of the drones at different times, the control console records the control relationship and process of each obstacle light on the corresponding drone, and determines the feasibility of the route setting through simulation analysis.

[0012] In one possible implementation, the real-time calibration of its attitude and position within the building model includes: The detection point of the distance sensor installed on the drone is located at a specific location in the images and video information captured by the drone; Based on the distance information, images, and videos transmitted back by the drone, the current attitude of the drone and its spatial angle relative to the target object can be inferred.

[0013] In one possible implementation, the real-time calculation of the distances between the drone and the controller, as well as the obstacle lights, further includes: When multiple drones need to be controlled, in order to reduce the number of controllers and improve integrated control, the multiple drones are first numbered and a collection command is sent to one of the drones. When the UAV receives the assembly command, it picks up the signal segment corresponding to the corresponding number, and then transmits the remaining signal segments to other UAVs.

[0014] In one possible implementation, sending the collection command to one of the drones includes: The set instruction includes multiple signal segments, each of which is assigned a corresponding number. The drone picks up the same number and corresponding signal segment as itself, and then forwards the remaining signal segments; The above settings enable the rapid transmission of control commands when multiple UAVs are flying linearly or in an array, thereby extending the control radius of the UAVs.

[0015] The beneficial effects of the UAV safe distance control method based on aviation obstruction lights provided by this invention are as follows: Compared with the prior art, the UAV safe distance control method based on aviation obstruction lights in this invention first determines the current position of the UAV, and then calculates the distance between the UAV and the controller and the obstruction lights of each building in real time. There are three scenarios: when the UAV is close to the controller, the controller directly controls the UAV; when the UAV is close to a specific obstruction light in the current building area, the controller controls the UAV through a data network and the obstruction light; when the UAV is located in other building areas, data communication between different buildings is achieved through the data network. In this case, the controller's signal controls the UAV through the connecting channels and the obstruction lights of other buildings, ultimately calibrating the UAV's attitude and position in the building model in real time.

[0016] The method provided in this application enables ultra-long-distance control of drones and allows for precise attitude adjustment of drones, avoiding signal delays and disconnections, enabling the execution of long-distance missions and handling of various complex scenarios. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a method for controlling the safe distance of a drone based on aviation obstruction lights, provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0020] Please see Figure 1 The present invention will now describe the UAV safe distance control method based on aviation obstruction lights. The UAV safe distance control method based on aviation obstruction lights includes: The system accurately identifies the drone's location and calculates the distances between the drone, the controller, and various obstruction lights in real time. When the drone is close to the controller, the controller directly controls the drone. When the drone is close to an obstruction light in the current building area, the controller is connected to the data network. The obstruction light receives data from the controller through the data network, controls the drone, and transmits the data back. When the drone is in other building areas, a data network connection channel is created between different buildings, and the location of the nearest obstruction light to the drone is determined. The controller then uses this connection channel to achieve long-distance control of the drone. Based on the data transmitted back by the drone, its attitude and position are calibrated in the building model in real time.

[0021] The beneficial effects of the UAV safe distance control method based on aviation obstruction lights provided by this invention are as follows: Compared with the prior art, the UAV safe distance control method based on aviation obstruction lights in this invention first determines the current position of the UAV, and then calculates the distance between the UAV and the controller and the obstruction lights of each building in real time. There are three scenarios: when the UAV is close to the controller, the controller directly controls the UAV; when the UAV is close to a specific obstruction light in the current building area, the controller controls the UAV through a data network and the obstruction light; when the UAV is located in other building areas, data communication between different buildings is achieved through the data network. In this case, the controller's signal controls the UAV through the connecting channels and the obstruction lights of other buildings, ultimately calibrating the UAV's attitude and position in the building model in real time.

[0022] The method provided in this application enables ultra-long-distance control of drones and allows for precise attitude adjustment of drones, avoiding signal delays and disconnections, enabling the execution of long-distance missions and handling of various complex scenarios.

[0023] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, the method further includes the following steps before calculating the distances between the UAV and the controller and each obstruction light in real time: Encode multiple obstacle lights within multiple building areas and upload their specific locations and coverage areas to the control panel.

[0024] The control console determines the time when the controller accesses the data network based on the drone's location, and enables the switching of drone control based on different obstacle lights.

[0025] In specific implementation scenarios, when a drone is located within a building area, the control console can quickly determine the distance relationship between the drone and various obstruction lights through the aforementioned coding and location upload. If the drone approaches a specific obstruction light, the control console will promptly issue a command, causing the obstruction light to receive the data input from the controller via the data network, thereby enabling precise control of the drone. For example, when the drone approaches obstruction light 1 of building A, the control console quickly identifies it and instructs obstruction light 1 to prepare to receive control data, achieving effective control of the drone.

[0026] When a drone flies from one building area to another, the control console dynamically adjusts the connection channel based on the drone's real-time location. For example, if a drone flies from building A to building B, the control console will pre-plan the data network connection channel from the obstruction lights in building A to the obstruction lights in building B, ensuring that the drone can continuously and stably receive control signals during flight without signal interruption.

[0027] Furthermore, by encoding obstruction lights and uploading location information, the control console can more efficiently manage the switching of drone control in different building areas. When a drone enters a new building area, the console can quickly assign the nearest obstruction light to control it based on its location information, ensuring the drone's flight safety and mission execution accuracy. Simultaneously, during drone flight, the console monitors its attitude and position data in real time and accurately labels this data within the building model, providing operators with intuitive and accurate information to better understand the drone's operational status and respond to various complex situations.

[0028] In some embodiments of the UAV safe distance control method based on aviation obstruction lights provided in this application, encoding multiple obstruction lights within multiple building areas and uploading their specific locations and coverage areas to the control console includes: The data transmitted back by the drone is stored in real time on the console, and the controller is only used to display the data after it is transmitted back.

[0029] The controller issues control commands, the console receives the control commands and simulates the motion trajectory, while generating possible motion results, which are finally transmitted back to the controller.

[0030] After gaining access, the console can take over the controller to enable remote, long-distance control of the drone.

[0031] Furthermore, after the console takes over the controller to achieve remote long-distance control of the drone, it will adjust the drone's flight attitude and speed in real time based on the data transmitted back by the drone, as well as the simulated motion trajectory and possible motion results. When the drone is detected approaching the coverage area of ​​the aviation obstruction lights, the console will issue an early warning signal to remind the operator to maintain a safe distance.

[0032] Meanwhile, the control console continuously monitors the actual distance between the drone and the aviation obstruction light. If the distance is too close, the console will immediately issue a command to cause the drone to quickly adjust its flight direction to increase the safe distance from the obstruction light. Throughout the control process, the console continuously optimizes the control strategy, dynamically adjusting control parameters based on the drone's real-time status and environmental factors to ensure that the drone always remains within a safe flight range and avoids dangerous situations such as collisions with aviation obstruction lights.

[0033] In addition, the console also features data logging and analysis capabilities. It records in detail the changes in distance to aviation obstruction lights, the execution of control commands, and relevant environmental data during each drone flight. By analyzing this data, operators can summarize lessons learned, further improve the safe flight operation procedures for drones, and enhance flight safety and efficiency. Moreover, this data can also help optimize and improve drone safe distance control methods to adapt to more complex and changing flight scenarios and needs.

[0034] In some embodiments of the UAV safe distance control method based on aviation obstruction lights provided in this application, the console determines the time for the controller to access the data network based on the UAV's position, including: Connect the controller to the data network before the drone is launched, and establish communication between the controller and the console.

[0035] When the drone is close to the controller, the console is in standby mode.

[0036] When the drone is far from the controller, the console blocks or shuts down the controller's transmitter and transfers the controller's control commands to the data network.

[0037] When an anomaly occurs during drone flight, the control console immediately acquires the drone's real-time location information. If the drone deviates from the safe flight path and is far from the controller, the console quickly sends adjustment commands to the drone via the data network, while simultaneously reassessing the controller's data network connection status. If a brief interruption in controller communication is detected, the console automatically attempts to re-establish the connection to ensure effective control of the drone. As the drone gradually approaches the controller, the console prepares in advance and adjusts the control method according to preset safety policies, smoothly transitioning from data network-based control to more precise direct controller operation, ensuring the drone remains in a safe flight state at all times.

[0038] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, the method further includes the following steps before calculating the distances between the UAV and the controller and each obstruction light in real time: Create a model of the current area, including multiple possible pathways, buildings, and the surrounding environment. Mark the location of each obstacle light and its coverage area in the model.

[0039] The control console determines the drone's spatial location and its position relative to the model based on the drone's positioning device and the analysis results of the data transmitted back by the drone.

[0040] Based on the obtained spatial position of the UAV and its positional relationship relative to the model, a preliminary flight path is planned to avoid areas with large obstruction light coverage as much as possible. Simultaneously, while calculating the distances between the UAV and the controller and each obstruction light in real time, the flight path is dynamically adjusted based on distance changes. If the UAV is detected approaching the obstruction light coverage area, a warning signal is issued promptly to remind the operator to take appropriate measures, such as manually adjusting the flight attitude or replanning the path, to ensure that the UAV always maintains a safe distance and avoids collisions with obstruction lights or other safety accidents.

[0041] In some embodiments of the UAV safe distance control method based on aviation obstruction lights provided in this application, the obstruction lights receive data input from the controller via a data network, control the UAV, and complete data feedback, including: When it is necessary to control multiple drones simultaneously on different routes, each drone should be numbered.

[0042] After numbering is completed, control gaps are established based on the number of drones. Each obstacle light intermittently sends control signals to the corresponding drones within the control area according to the control gaps. The control signals include the travel route and speed within a preset time interval. The control gaps are used to ensure uninterrupted flight of drones and real-time control of multiple drones.

[0043] After receiving the control signal, the drone flies according to the route and speed information in the signal. During flight, obstruction lights continuously monitor the drone's position and status. If a drone deviates from the preset route, the obstruction light quickly feeds the deviation information back to the controller via the data network. Upon receiving the feedback, the controller immediately analyzes the cause of the deviation and sends adjustment commands to the corresponding drone to ensure that it returns to the correct flight path.

[0044] Meanwhile, to further ensure the safe flight of the drone, the obstruction light also monitors the environmental conditions within the control area in real time, such as weather conditions and surrounding obstacles, and promptly transmits this information back to the controller. Based on this environmental information, the controller dynamically adjusts its control strategy. For example, in strong winds, it appropriately reduces the drone's flight speed, or when new obstacles are detected, it adjusts the drone's flight path to avoid them. After completing a flight mission, the obstruction light transmits the drone's flight data, such as flight time, flight distance, and power consumption, back to the controller via a data network. The controller analyzes and processes this data to optimize subsequent flight missions and to evaluate and maintain the drone's performance.

[0045] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, the method involves each obstruction light intermittently sending control signals to the corresponding UAV within the control area according to control gaps, including: Multiple drone routes are set within the control console. Based on the different positions of the drones at different times, the control console records the control relationship and process of each obstacle light on the corresponding drone. The feasibility of the route setting is determined through simulation analysis.

[0046] After confirming the feasibility of the route setup, each obstacle light, based on information transmitted from the control console, sends control signals to the corresponding drone within the control area at specific frequencies and in a controlled manner, according to control intervals. These control signals carry key instructions regarding safe distances, flight direction adjustments, etc. Upon receiving the signals, the drone will make corresponding adjustments based on its built-in algorithms and programs.

[0047] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, the real-time calibration of its attitude and position within the building model includes: The detection points of the distance sensors installed on the drone are located at specific locations in the images and videos captured by the drone.

[0048] Based on the distance information, images, and videos transmitted back by the drone, the drone's current attitude and spatial angle relative to the target object can be inferred.

[0049] In one embodiment, the sensor emits a pulse signal, which is reflected back to the drone upon contact with an object, allowing the drone to determine the distance. In a specific case, the point where the pulse signal contacts the object is located at the exact center of the captured image or video. By combining the distance information from this single point with the image and video, the distances of the drone to various locations in the image can be estimated. Since the building's position remains constant, the drone's pitch angle can then be deduced.

[0050] Based on the inferred current attitude of the drone and its spatial angle relative to the target, combined with a pre-set safety distance standard, the real-time safe distance between the drone and the target is calculated. If the actual distance between the drone's current position and the target is detected to be less than the real-time safe distance, the corresponding safety control mechanism is immediately triggered. This safety control mechanism may include adjusting the drone's flight speed to gradually reduce it until it hovers beyond the safe distance; or changing the drone's flight direction to guide it away from the target, ensuring that it always flies within the safe distance range. Simultaneously, the distance between the drone and the target is continuously monitored. Once the distance approaches the safe distance boundary again, the above safety control operation is repeated promptly to ensure the safety of the drone during flight and effectively avoid dangerous situations such as collisions with aviation obstruction lights and other targets.

[0051] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, the real-time calculation of the distance between the UAV and the controller and each obstruction light further includes: When multiple drones need to be controlled, in order to reduce the number of controllers and improve integrated control, the drones are first numbered, and a collection command is sent to one of the drones.

[0052] Once the drone receives the assembly command, it picks up the signal segment corresponding to the corresponding number, and then transmits the remaining signal segments to other drones.

[0053] After receiving the signal segment, other drones parse it to obtain their own identification number and other relevant information, enabling unified management of multiple drones. At this point, the controller only needs to communicate with the drone that received the assembly command to indirectly control multiple drones, significantly reducing the number of controllers and improving the level of integrated control. Then, during subsequent flight, the distance between each drone and the controller, as well as each obstruction light, is calculated in real time. If the distance between a drone and an obstruction light approaches the safe distance threshold, the controller communicates with the drone that received the assembly command and sends an adjustment command to that drone. This drone then forwards the command to the other drones, causing all drones to adjust their flight attitude and position according to the instructions, ensuring a safe distance from the obstruction lights and effectively preventing collisions between drones and aviation obstruction lights, thus ensuring flight safety.

[0054] In some embodiments of the UAV safety distance control method based on aviation obstruction lights provided in this application, sending a collection command to one of the UAVs includes: The set instruction includes multiple signal segments, each of which is assigned a corresponding number.

[0055] The drone picks up the same number and corresponding signal segment as itself, and then forwards the remaining signal segments.

[0056] The above settings enable the rapid transmission of control commands when multiple drones are flying linearly or in an array, thus extending the control radius of the drones.

[0057] In practical applications, this drone safety distance control method based on aviation obstruction lights plays a crucial role when multiple drones need to perform tasks. For example, in a large-scale agricultural spraying operation, multiple drones need to work along specific linear or array flight paths. First, the operator sends a assembly command to one of the drones. This assembly command contains multiple signal segments, each preceded by a corresponding number.

[0058] Upon receiving the command, the drone quickly picks up the same number and corresponding signal segment as itself, and then accurately forwards the remaining signal segments. Other drones, upon receiving the forwarded signal segments, can quickly obtain the complete control command, thus enabling rapid transmission of control commands when multiple drones are flying linearly or in formation. This significantly extends the drone's control radius, ensuring efficient coverage of the entire work area and greatly improving the efficiency and quality of agricultural spraying operations. Furthermore, this method ensures that drones maintain a safe distance, avoiding collisions and other safety issues, providing reliable protection for collaborative drone operations in complex environments. In subsequent fields such as industrial inspection, this method has also demonstrated significant advantages, allowing multiple drones to fly linearly or in formation along planned paths to conduct comprehensive and detailed inspections of industrial facilities, promptly identifying potential safety hazards and equipment malfunctions, and effectively ensuring the smooth operation of industrial production.

[0059] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the safe distance of unmanned aerial vehicles (UAVs) based on aviation obstruction lights, characterized in that, include: The system accurately determines the drone's location and calculates the distances between the drone, the controller, and various obstruction lights in real time. When the drone is close to the controller, the controller directly controls it. When the drone is close to an obstruction light in the current building area, the controller is connected to the data network. The obstruction light receives data input from the controller through the data network, controls the drone, and transmits the data back. When the drone is located in other building areas, a connection channel is created between the data networks of different buildings, and the location of the nearest obstruction light is determined. The controller achieves long-distance control of the drone through the connection channel. Based on the data transmitted back by the drone, its attitude and position are calibrated in the building model in real time. Before the real-time calculation of the distances between the drone and the controller, as well as the obstacle lights, the following steps are included: Encode multiple obstruction lights within multiple building areas and upload their specific locations and coverage areas to the control console; The control console determines the time when the controller accesses the data network based on the location of the drone, and enables the switching of control over the drone by different obstacle lights; The obstruction light receives data input from the controller via the data network, controls the drone, and completes data transmission, including: When it is necessary to control multiple drones simultaneously to operate on different routes, each drone is numbered. After numbering is completed, control gaps are established according to the number of the multiple drones. Each obstacle light intermittently sends control signals to the corresponding drone in the control area according to the control gaps. The control signals include the travel route and speed within a preset time interval. The control gaps are used to ensure uninterrupted flight of the drones and real-time control of the multiple drones.

2. The UAV safe distance control method based on aviation obstruction lights as described in claim 1, characterized in that, The step of encoding multiple obstacle lights within multiple building areas and uploading their specific locations and coverage areas to the control console includes: The data transmitted back by the drone is stored in the console in real time, and the controller is only used to display the data after it is transmitted back. The controller issues control commands, the console receives the control commands and simulates the motion trajectory, while generating possible motion results and finally transmitting them back to the controller. After obtaining permissions, the console can take over the controller to achieve remote long-distance control of the drone.

3. The UAV safe distance control method based on aviation obstruction lights as described in claim 2, characterized in that, The console determines the time when the controller accesses the data network based on the location of the drone, including: Before the drone is started, the controller is connected to the data network, and communication between the controller and the console is established; When the drone is close to the controller, the console is in standby mode; When the drone is far from the controller, the console blocks or shuts down the controller's transmitter and transfers the controller's control commands to the data network.

4. The UAV safe distance control method based on aviation obstruction lights as described in claim 1, characterized in that, Before the real-time calculation of the distances between the drone and the controller, as well as the obstacle lights, the following steps are included: Create a model of the current area, including multiple possible pathways, buildings, and the surrounding environment, and mark the location of each obstacle light and its coverage area in the model; The console determines the spatial location of the drone and its positional relationship relative to the model based on the drone's positioning device and the analysis results of the data transmitted back by the drone.

5. The UAV safe distance control method based on aviation obstruction lights as described in claim 1, characterized in that, The method of intermittently sending control signals from each of the obstruction lights to the corresponding UAVs within the control area according to the control gap includes: Multiple travel routes for the drones are set within the control console. Based on the different positions of the drones at different times, the control console records the control relationship and process of each obstacle light on the corresponding drone, and determines the feasibility of the route setting through simulation analysis.

6. The UAV safe distance control method based on aviation obstruction lights as described in claim 1, characterized in that, The real-time calibration of its attitude and position within the building model includes: The detection point of the distance sensor installed on the drone is located at a specific location in the images and video information captured by the drone; Based on the distance information, images, and videos transmitted back by the drone, the current attitude of the drone and its spatial angle relative to the target object can be inferred.

7. The UAV safe distance control method based on aviation obstruction lights as described in claim 1, characterized in that, The real-time calculation of the distance between the drone and the controller, as well as the obstacle lights, also includes: When multiple drones need to be controlled, in order to reduce the number of controllers and improve integrated control, the multiple drones are first numbered and a collection command is sent to one of the drones. When the UAV receives the assembly command, it picks up the signal segment corresponding to the corresponding number, and then transmits the remaining signal segments to other UAVs.

8. The UAV safe distance control method based on aviation obstruction lights as described in claim 7, characterized in that, Sending a collection command to one of the drones includes: The set instruction includes multiple signal segments, each of which is assigned a corresponding number. The drone picks up the same number and corresponding signal segment as itself, and then forwards the remaining signal segments; The above settings enable the rapid transmission of control commands when multiple UAVs are flying linearly or in an array, thereby extending the control radius of the UAVs.

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