Unmanned aerial vehicle electronic fence method based on artificial potential field method

Abstract

The invention discloses an unmanned aerial vehicle electronic fence method based on an artificial potential field method, and the method comprises the following steps: S1, delimiting an electronic fence boundary based on a current flight region of an unmanned aerial vehicle, the interior of the boundary being a flight region, and the exterior of the boundary being a limited / no-fly region; s2, dividing the flight area into a plurality of concentric annular areas according to the distance; s3, based on the current position of the unmanned aerial vehicle, determining the current area of the unmanned aerial vehicle, and obtaining the expected acceleration corresponding to the area; s4, calculating an expected speed based on the expected acceleration; and S5, adjusting the flight speed of the unmanned aerial vehicle according to the calculated expected speed, and returning to the step S1 until the unmanned aerial vehicle lands. According to the method, the motion range of the unmanned aerial vehicle is effectively limited, the risk that the unmanned aerial vehicle rushes out of the fence is reduced, the problem of control failure caused by satellite signal interference and environmental factor influence in a traditional method is avoided, and the method has wide applicability and expandability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle electronic fence method based on an artificial potential field method. BACKGROUND

[0002] With the rapid development and wide application of unmanned aerial vehicles, they have shown great value and potential in many fields such as logistics distribution, environmental monitoring, film shooting, emergency rescue, etc. The large-scale use of unmanned aerial vehicles has also brought a series of safety and management problems. Unauthorized unmanned aerial vehicles entering sensitive areas (such as airports, military restricted areas, nuclear power plants, densely populated areas, etc.) may interfere with normal aviation order, threaten public safety, infringe privacy, and even be maliciously used to carry out destructive activities. Therefore, it is crucial to effectively control the flight area of unmanned aerial vehicles and build reliable unmanned aerial vehicle electronic fence technology.

[0003] Currently, the mainstream solutions of unmanned aerial vehicle electronic fence technology have limitations and are difficult to fully adapt to complex dynamic flight scenarios:

[0004] The GPS-based geographic fence technology can achieve basic control by pre-setting virtual geographic boundaries, but satellite signals are easily affected by electromagnetic interference, city canyon shielding, or no signal in indoor scenes, resulting in a sharp drop in positioning accuracy and leading to fence failure;

[0005] The RFID-based fence technology needs to deploy special equipment on both the unmanned aerial vehicle and the control area, and realizes area control through identification tags. Not only is the hardware cost high, but the coverage range is limited, and the boundary adjustment lacks flexibility, making it difficult to meet temporary control needs;

[0006] The fence technology based on visual recognition relies on cameras to capture images and algorithms to determine the region, but it is extremely sensitive to lighting conditions and weather conditions (such as heavy fog, heavy rain, strong light), and the real-time performance and recognition accuracy are easily affected by environmental interference, lacking stability. SUMMARY

[0007] The purpose of the present application is to provide an unmanned aerial vehicle electronic fence method based on an artificial potential field method, comprising the following steps:

[0008] S1, before the unmanned aerial vehicle takes off, obtaining the location of the unmanned aerial vehicle according to the unmanned aerial vehicle positioning system, and delineating the electronic fence boundary based on the location;

[0009] The boundary is the flight area, and the boundary is the restricted / forbidden flight area;

[0010] S2, dividing the flight area into multiple sub-flight areas with different resistances according to the distance;

[0011] The closer the sub-flight area is to the electronic fence boundary, the greater the resistance set.

[0012] S3, confirming the current sub-flight area where the UAV is located based on the current position of the UAV, calculating the repulsion force received by the UAV in the area, and thus obtaining the expected acceleration corresponding to the area;

[0013] S4, obtaining the expected acceleration of the area where the UAV is located in real time through the flight control system, and calculating the expected speed based on the kinematics relationship between speed and acceleration;

[0014] S5, the flight control system adjusts the flight speed of the UAV according to the calculated expected speed, and returns to step S3) until the UAV lands.

[0015] Further, in step S1), the boundary of the electronic fence is of any shape.

[0016] Further, in step S2), the area of the sub-flight area is automatically adjusted based on the flight task of the UAV, the current power and the real-time wind speed.

[0017] Further, in step S2), the space between the boundary of the electronic fence and the center of the flight area is divided into four sub-flight areas according to the distance from far to near; the four sub-flight areas from outside to inside are high resistance area, medium resistance area, low resistance area and no resistance area.

[0018] Further, in step S2), when the UAV is insufficient in power, the range of the high resistance area and the medium resistance area is reduced, and the range of the low resistance area is increased, while the repulsion force intensity of each resistance area is reduced. If the real-time wind speed is large, the repulsion force of the high resistance area is increased.

[0019] Further, in step S3), the calculation formula of the repulsion force is:

[0020] (1)

[0021] In the formula: is the repulsion force received by the UAV within the range of the electronic fence; is the number of sub-flight areas; is the resistance coefficient corresponding to the th sub-flight area; is the distance from the UAV to the center of the electronic fence.

[0022] Further, the resistance coefficient of each sub-flight area is automatically adjusted based on the flight task of the UAV (1), the current power and the real-time wind speed.

[0023] Further, in step S3), the calculation formula of the expected acceleration is:

[0024] ​ (2)

[0025] wherein: is the desired acceleration of the UAV within the electronic fence range; is the mass of the UAV.

[0026] Further, in step S4), the desired speed is calculated by the formula:

[0027] (3)

[0028] wherein: is the current flight speed of the UAV; is the time interval.

[0029] Further, in step S5), the actual flight speed of the UAV is changed by adjusting the motor speed and / or propeller angle.

[0030] The technical effects of the present application are self-evident, and the beneficial effects of the present application are as follows:

[0031] 1. Precise area control: By dividing different gradient resistance areas, the UAV can be precisely controlled according to the actual distance between the UAV and the electronic fence. Compared with traditional electronic fence technology, the UAV's movement range can be more effectively limited, and the risk of the UAV breaking out of the fence can be reduced.

[0032] 2. Reliable deceleration mechanism: Based on the artificial potential field method to calculate the desired acceleration and speed command, the repulsive force generated by the resistance is used to realize the deceleration of the UAV, avoiding the control failure problem caused by satellite signal interference and environmental factors in traditional methods, and ensuring the flight safety of the UAV in the electronic fence area.

[0033] 3. Good adaptability: According to different application scenarios and UAV models, the division of resistance areas, resistance parameters and related calculation models can be flexibly adjusted, so that the electronic fence method has wide applicability and scalability.

[0034] 4. Dependence on existing sensing and computing modules: repulsion calculation only requires the positioning module, attitude sensor and basic processor of the UAV, without the need to add special fence detection radar, laser range finder and other hardware, reducing the cost of modification;

[0035] 5. Easy to integrate into existing flight control system: the algorithm logic of the artificial potential field method is simple, which can be embedded as a "submodule" into the existing flight control system of the UAV, compatible with the original path planning and attitude control functions, without the need to reconstruct the entire control system, with short development and deployment cycle. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1An application scenario diagram of an unmanned aerial vehicle electronic fence based on an artificial potential field method;

[0037] Figure 2 A flowchart of an unmanned aerial vehicle electronic fence method based on an artificial potential field method;

[0038] Figure 3 A principle diagram of an unmanned aerial vehicle electronic fence method based on an artificial potential field method (circle);

[0039] Figure 4 A principle diagram of an unmanned aerial vehicle electronic fence method based on an artificial potential field method (rectangle).

[0040] In the figure: unmanned aerial vehicle 1, electronic fence 2, flight area 3, no-resistance area 4, low-resistance area 5, medium-resistance area 6, high-resistance area 7, restricted / forbidden flight area 8. DETAILED DESCRIPTION

[0041] The application will be further described below in conjunction with examples, but should not be understood as limiting the above-mentioned subject matter of the application to the following examples. According to ordinary technical knowledge and conventional means in the art, various substitutions and modifications can be made without departing from the above-mentioned technical idea of the application, and all of them should be included in the protection scope of the application.

[0042] Example 1

[0043] An unmanned aerial vehicle electronic fence method based on an artificial potential field method, comprising the following steps:

[0044] S1, before the unmanned aerial vehicle 1 takes off, obtaining the location of the unmanned aerial vehicle 1 according to the unmanned aerial vehicle positioning system, and demarcating the boundary of the electronic fence based on the location;

[0045] The boundary is the flight area 3, and the outside of the boundary is the restricted / forbidden flight area 8;

[0046] S2, dividing the flight area 3 into multiple sub-flight areas with different resistances according to the distance;

[0047] The closer the sub-flight area is to the boundary of the electronic fence 2, the greater the resistance set for the sub-flight area;

[0048] S3, based on the current position of the unmanned aerial vehicle 1, confirming the sub-flight area where the unmanned aerial vehicle 1 is currently located, calculating the repulsive force received by the unmanned aerial vehicle 1 in the area, and thus obtaining the corresponding expected acceleration of the area;

[0049] S4, obtaining the expected acceleration of the area where the unmanned aerial vehicle 1 is located in real time through the flight control system, and calculating the expected speed based on the kinematic relationship between speed and acceleration;

[0050] S5. The flight control system adjusts the flight speed of UAV 1) according to the calculated desired speed and returns to step S3) until UAV 1 lands.

[0051] Example 2:

[0052] The main structure of this embodiment is the same as that of embodiment 1. Furthermore, in step S1), the boundary of the electronic fence 2 is of arbitrary shape.

[0053] Example 3:

[0054] The main structure of this embodiment is the same as any one of embodiments 1 to 2. Further, in step S2), the area of ​​the sub-flight area is automatically adjusted based on the flight mission of the UAV 1, the current battery level, and the real-time wind speed.

[0055] Example 4:

[0056] The main structure of this embodiment is the same as any one of embodiments 1 to 3. Further, in step S2), the space between the boundary of the electronic fence 2 and the center of the flight area 3 is divided into four sub-flight areas according to the distance; from the outside to the inside, the four sub-flight areas are high-resistance area 7, medium-resistance area 6, low-resistance area 5 and no-resistance area 4.

[0057] Example 5:

[0058] The main structure of this embodiment is the same as that of Embodiment 4. Further, in step S2), when the drone's power is insufficient (when the drone's battery is at 10%, its power is approximately 60% of a full charge), to counteract the repulsive force generated by the resistance regions, the range of the high-resistance region 7 and the medium-resistance region 6 is reduced, and the range of the low-resistance region 5 is increased (the inner circle of the low-resistance region 5 and the boundary of the electronic fence remain unchanged, while the range of the high-resistance region 7 and the medium-resistance region 6 is reduced, thereby increasing the range of the low-resistance region 5), while simultaneously reducing the repulsive force intensity of each resistance region. If the real-time wind speed is high, the repulsive force of the high-resistance region 7 is increased.

[0059] Example 6:

[0060] The main structure of this embodiment is the same as any one of embodiments 1 to 5. Further, in step S3), the repulsive force... The calculation formula is:

[0061] (1)

[0062] In the formula: The repulsive force experienced by the drone within the electronic fence area; The number of sub-flight areas; For the first The drag coefficient corresponding to each sub-flight area; Distance from the UAV to the electronic fence center.

[0063] In the same resistance area, the distance from the UAV to the electronic fence boundary is inversely proportional to the repulsion force it receives. In different resistance areas, the factors determining the repulsion force the UAV receives are the resistance coefficients of different areas and the boundary value of the UAV to the electronic fence.

[0064] Embodiment 7:

[0065] The main structure of this embodiment is the same as any one of embodiments 1-6, and further, based on the flight task of the UAV 1, the current power and real-time wind speed, the resistance coefficients of each sub-flight area are automatically adjusted.

[0066] Embodiment 8:

[0067] The main structure of this embodiment is the same as any one of embodiments 1-7, and further, in step S3), the calculation formula of the expected acceleration is:

[0068] (2)

[0069] In the formula: is the expected acceleration of the UAV within the electronic fence range; is the mass of the UAV.

[0070] Embodiment 9:

[0071] The main structure of this embodiment is the same as any one of embodiments 1-8, and further, in step S4), the calculation formula of the expected speed is:

[0072] (3)

[0073] In the formula: is the current flight speed of the UAV; is the time interval.

[0074] The faster the initial speed of the UAV, the shorter the time it takes to pass through each repulsion area. Here, Δt can be considered as 1s, a speed change per second. And because the closer the UAV is to the boundary, the greater the repulsion force it receives, the greater the acceleration it receives, and the greater the expected speed change.

[0075] Embodiment 10:

[0076] The main structure of this embodiment is the same as any one of embodiments 1-9, and further, in step S5), by adjusting the motor speed and / or propeller angle, the actual flight speed of the UAV 1 is changed.

[0077] Embodiment 11:

[0078] The main structure of the embodiment is the same as any one of embodiments 1-10. Further, the present application aims to provide an unmanned aerial vehicle electronic fence method based on artificial potential field method. By dividing different gradient resistance regions according to the distance between the unmanned aerial vehicle and the electronic fence, the corresponding resistance is applied to the unmanned aerial vehicle, the desired acceleration and speed instruction are obtained to adjust the flight speed, so as to reduce or avoid the distance of the unmanned aerial vehicle rushing out of the delimited electronic fence region, and the flight safety of the unmanned aerial vehicle is ensured.

[0079] An unmanned aerial vehicle electronic fence method based on artificial potential field method, the method is used for an unmanned aerial vehicle, and specifically comprises the following steps:

[0080] 1. Dividing resistance regions: different gradient resistance regions are divided according to the distance between the unmanned aerial vehicle and the electronic fence. The space between the electronic fence boundary and the center region where the unmanned aerial vehicle can freely fly is divided into multiple concentric ring regions according to the distance. The closer to the electronic fence, the greater the resistance of the region. The regions are divided into four levels. The region closest to the electronic fence boundary is the high resistance region, the secondary region is the medium resistance region, the third region is the low resistance region, and the center region is the non-resistance region. The boundary distance of each region can be flexibly set according to the actual application scene and the performance of the unmanned aerial vehicle.

[0081] 2. Calculating the desired acceleration: when the unmanned aerial vehicle enters different resistance regions, the resistance acting on the unmanned aerial vehicle in the region is applied to the unmanned aerial vehicle, and the desired acceleration is obtained according to the resistance to reduce the flight speed of the unmanned aerial vehicle. According to the principle of artificial potential field method, each resistance region corresponds to different intensity of repulsive force potential field. The repulsive force is related to the distance between the unmanned aerial vehicle and the electronic fence, the current speed of the unmanned aerial vehicle and other parameters. Through the established mathematical model of force and acceleration (wherein is the resistance, is the mass of the unmanned aerial vehicle, is the desired acceleration), the desired acceleration is calculated to make the unmanned aerial vehicle decelerate.

[0082] 3. Adjusting the flight speed: the speed instruction is obtained according to the resistance of the unmanned aerial vehicle entering the resistance region, and the flight speed of the unmanned aerial vehicle is adjusted according to the speed instruction. After the flight control system of the unmanned aerial vehicle receives the speed instruction, the actual flight speed of the unmanned aerial vehicle is changed by adjusting the motor speed, propeller angle and other ways, so that the actual flight speed gradually approaches the desired speed, thereby realizing effective control of the speed of the unmanned aerial vehicle and preventing it from rushing out of the electronic fence region.

[0083] Embodiment 12:

[0084] The main structure of the embodiment is the same as any one of embodiments 1-11. Further, the technical solutions of the present application are described in detail in combination with specific embodiments.

[0085] (1) Circular electronic fence (such as shown in FIG. 1) Figure 3

[0086] Suppose in a certain practical application scenario, there is a UAV with a mass of , flying outward from the low-resistance area within the designated circular electronic fence area.

[0087] 1. Define the resistance area: set the electronic fence area as a circle with a radius of , and establish a coordinate system with the center of the circle as the origin. Divide the area from the electronic fence boundary to the central area into three concentric circular ring areas, with the outermost area near the boundary set as the high-resistance area with a radius of R1; the secondary area set as the medium-resistance area with a radius of R2, and the sub-secondary area set as the low-resistance area with a radius of R3, and the central area set as the non-resistance area.

[0088] 2. Calculate the expected acceleration: the distance of the UAV to the center of the electronic fence is set as r, when the UAV is in the non-resistance area, the UAV is not affected by the repulsive force, and the expected acceleration of the UAV is 0 (r < R3); when the UAV enters the low-resistance area from the non-resistance area, according to the pre-set repulsive force function (Where is the low-resistance coefficient, R3≤r≤R2) to calculate the repulsive force , and according to , the expected acceleration is obtained, which is in the opposite direction of the movement of the UAV close to the boundary of the electronic fence, causing the UAV to slow down; when the UAV enters the medium-resistance area and the high-resistance area, respectively according to the corresponding repulsive force functions , ( (R2≤r≤R1), (R1≤r≤R) are the coefficients of the medium-resistance area and the low-resistance area, respectively, and ), then calculate the expected acceleration , .

[0089] 3. Adjust the flight speed of the UAV: the flight control system of the UAV obtains the expected acceleration of the area where the UAV is located in real time, and calculates the speed command according to the kinematics relationship between speed and acceleration. If the current speed of the UAV is , the expected acceleration is , and the time interval is , then the expected speed is , and the flight control system adjusts the motor speed and other components according to the expected speed to make the actual speed of the UAV approach the expected speed. In the entire flight process, the UAV repeatedly performs the above process to dynamically adjust its speed, ensuring that the UAV always flies safely within the electronic fence area. ​

[0090] 4. To ensure the safe flight of the drone, the radius of each resistance area ( , , ), and the parameters of the repulsive force function ( , , ) can be automatically adjusted according to the flight mission of the drone, the current battery level, real-time wind speed and other environmental factors. When the battery level of the drone is low, in order to ensure its safe return, the range of the low-resistance area is appropriately increased and the repulsive force intensity is reduced, so that the drone can move more smoothly towards the central area; if the real-time wind speed is high, the repulsive force of the high-resistance area near the boundary of the electronic fence is appropriately increased to prevent the strong wind from accidentally blowing the drone out of the fence area, thereby improving the reliability of the electronic fence under complex and changeable conditions.

[0091] (2) Rectangular electronic fence (as shown in Figure 4 )

[0092] Suppose in a certain actual application scenario, there is a drone with a mass of that needs to fly outward from the non-resistance area within the designated rectangular electronic fence area.

[0093] 1. Define the resistance area: Set the electronic fence area as a rectangle with a length of and a width of . Establish a coordinate system with the center of the rectangle as the origin. Divide the area from the electronic fence boundary to the central area into three concentric rectangular ring areas. The width of the outermost area near the boundary is , which is set as the high-resistance area; the width of the secondary area is , which is set as the medium-resistance area, and the width of the next secondary area is , which is set as the low-resistance area, and the central area is set as the non-resistance area.

[0094] 2. Calculate the expected acceleration: The distance from the drone to the center of the electronic fence is set as r. When the drone is in the non-resistance area, the drone is not affected by the repulsive force, and the expected acceleration of the drone is 0 (r < L3); when the drone enters the low-resistance area from the non-resistance area, according to the preset repulsive force function (where is the low-resistance coefficient, L3 ≤ r ≤ L2), calculate the repulsive force , and then according to , obtain the expected acceleration . The direction of this acceleration is opposite to the direction of the drone's movement towards the boundary of the electronic fence, causing the drone to decelerate; when the drone enters the medium-resistance area and the high-resistance area, respectively, according to the corresponding repulsive force functions , ( (L2 ≤ r ≤ L1), (L1<r≤L) are the coefficients for the medium resistance zone and the low resistance zone, respectively, and Then calculate the desired acceleration. , .

[0095] 3. Adjusting the drone's flight speed: The drone's flight control system acquires the desired acceleration of the area where the drone is located in real time, and calculates the speed command based on the kinematic relationship between velocity and acceleration. If the current drone speed is... The expected acceleration is The time interval is Then the expected speed The flight control system adjusts components such as motor speed according to the desired speed, bringing the drone's actual speed close to the desired speed. Throughout the flight, the drone continuously repeats this process, dynamically adjusting its speed to ensure safe flight within the electronic fence area.

[0096] 4. To ensure the safe flight of the drone, the size of each drag zone and the parameters of the repulsive force function can be adjusted according to environmental factors such as the drone's flight mission, current battery level, and real-time wind speed. , , When the drone's battery is low, in order to ensure its safe return, the range of the low-drag zone is appropriately increased and the repulsive force intensity is reduced, allowing the drone to move more smoothly towards the center area. If the real-time wind speed is high, the repulsive force of the high-drag zone near the boundary of the electronic fence is appropriately increased to prevent strong winds from accidentally blowing the drone out of the fence area, thereby improving the reliability of the electronic fence under complex and changing conditions.

[0097] This method can also be extended to irregularly shaped electronic fences, based on the same principle.

[0098] Example 13:

[0099] The main structure of this embodiment is the same as any one of embodiments 1-12, and further, the artificial potential field method (simulating the interaction of "gravity" and "repulsion" in physics - by constructing a virtual "potential field environment", the robot moves to the end point under the traction of "target gravity", while avoiding obstacles under the obstruction of "obstacle repulsion", and finally autonomously plans a safe and smooth path) is applied to the construction of the unmanned aerial vehicle electronic fence. By converting the "virtual fence boundary" into a targeted gradient repulsion field, the fence technology provides better flexibility and adaptability: without relying on a single positioning signal (can integrate GPS, IMU, vision and other multi-source positioning optimization potential field calculation), even if part of the positioning signal is disturbed, the boundary constraint can still be maintained through the dynamic adjustment of the potential field force; without additional deployment of special hardware (such as RFID tags, fixed identification devices), only by embedding the potential field algorithm module in the flight control system, it can adapt to any shape of fence boundary such as circle, polygon, etc., and the boundary range and constraint strength can be adjusted in real time, flexible response to temporary no-fly zones, dynamic control and other needs; at the same time, its "repulsion field" is naturally compatible with the unmanned aerial vehicle obstacle avoidance function, which can unify the fence repulsion and obstacle repulsion calculation, while ensuring that the boundary does not exceed the boundary, it naturally avoids real environment obstacles, greatly improving the reliability and flight safety of the fence in complex scenarios.

[0100] Based on the artificial potential field method, the fence boundary is designed as a "gradient repulsion field", which has more accurate constraint effect. It has the following advantages:

[0101] Adapt to irregular fence shape: whether it is a circular, polygonal or complex curved electronic fence, the artificial potential field method can construct a continuous repulsion field through "multiple repulsion source superposition", and there is no "border corner control blind area", while the adaptability of traditional coordinate judgment to irregular boundaries is poor.

[0102] Adapt to dynamic flight scenarios: If the unmanned aerial vehicle approaches the fence at a high speed, the gradient repulsion of the artificial potential field can trigger "speed reduction + deviation" in advance, so that the path adjustment process matches the flight speed, avoiding "inertial boundary crossing" caused by late adjustment, especially suitable for reconnaissance, inspection unmanned aerial vehicles that need to fly continuously.

Claims

1. A method for an unmanned aerial vehicle electronic fence based on a potential field method, characterized in that, The method comprises the following steps: S1. Before the UAV (1) takes off, the location of the UAV (1) is obtained according to a UAV positioning system, and an electronic fence boundary is drawn based on the location; The flight area (3) is inside the boundary, and the limited / forbidden flight area (8) is outside the boundary; S2. The flight area (3) is divided into multiple sub-flight areas with different resistances according to the distance; The closer the sub-flight area is to the boundary of the electronic fence (2), the greater the resistance set for the sub-flight area; S3. Based on the current location of the UAV (1), the current sub-flight area where the UAV (1) is located is confirmed, the repulsion force suffered by the UAV (1) in the area is calculated, and the corresponding expected acceleration of the area is obtained; S4. The expected acceleration of the area where the UAV (1) is located is obtained in real time through a flight control system, and the expected speed is calculated based on the kinematics relationship between speed and acceleration; S5. The flight control system adjusts the flight speed of the UAV (1) according to the calculated expected speed, and returns to step S3) until the UAV (1) lands. 2.The method of claim 1, wherein: In step S1), the boundary of the electronic fence (2) is of any shape. 3.The method of claim 1, wherein: In step S2, the area size of the sub-flight area is automatically adjusted based on the flight task of the UAV (1), the current power, and the real-time wind speed.

4. The unmanned aerial vehicle electronic fence method based on the artificial potential field method according to claim 1 or 3, characterized in that: In step S2, the space between the boundary of the electronic fence (2) and the center of the flight area (3) is divided into four sub-flight areas according to the distance; from the outside to the inside, the four sub-flight areas are high-resistance area (7), medium-resistance area (6), low-resistance area (5), and no-resistance area (4).

5. The unmanned aerial vehicle electronic fence method based on the artificial potential field method according to claim 4, characterized in that: In step S2, when the UAV power is insufficient, the range of the high-resistance area (7) and the medium-resistance area (6) is reduced, and the range of the low-resistance area (5) is increased, and the repulsion force strength of each resistance area is reduced; If the real-time wind speed is large, the repulsion force of the high-resistance area (7) is increased.

6. The unmanned aerial vehicle electronic fence method based on the artificial potential field method of claim 1, wherein: In step S3), the repulsive force The formula for calculating the repulsive force is: （1） In the formula: is the repulsive force received by the UAV within the range of the electric fence; is the number of sub-flight areas; is the first is the drag coefficient corresponding to the first is the distance from the UAV to the center of the electric fence.

7. The unmanned aerial vehicle electronic fence method based on the artificial potential field method according to claim 6, characterized in that: Based on the flight task of the UAV (1), the current power, and the real-time wind speed, the resistance coefficient of each sub-flight area is automatically adjusted. 8.The method of claim 6, wherein: In step S3, the calculation formula of the expected acceleration is: （2） In the formula: is the desired acceleration of the drone within the range of the electric fence; is the mass of the drone.

9. The unmanned aerial vehicle electronic fence method based on the artificial potential field method according to claim 8, characterized in that: In step S4) the desired speed The formula for the calculation is: （3） In the formula: is the current flight speed of the UAV; is the time interval. 10.The method of claim 1, wherein: In step S5, the actual flight speed of the UAV (1) is changed by adjusting the motor speed and / or the propeller angle.

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