Method and apparatus for constructing a protection domain of a drone

Abstract

The application provides a protection domain construction method and device of a UAV, which can be applied to the technical field of data processing. The method comprises the following steps: based on a space constraint condition, processing flight situation information generated by the UAV in a flight process to obtain a protection domain space comprising a plurality of position points, the space constraint condition being used for determining a position range corresponding to the position points; according to the flight situation information of the UAV, predicting a space reached by the UAV in a prediction period to obtain at least one predicted flight space; according to a flight weight determined by the flight situation information of the UAV and environmental risk information, determining protection domain safety evaluation information, the flight weight representing a flight safety degree of the UAV; and according to respective adjustment parameters corresponding to the predicted flight space and the protection domain safety evaluation information, adjusting the protection domain space to obtain a target protection domain space.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and more specifically to a method and apparatus for constructing a protected domain for unmanned aerial vehicles (UAVs). Background Technology

[0002] With the development of drone technology, drones, with their advantages of high mobility, convenient deployment, and flexible viewing angle, have been widely used in substations for visible light inspection, infrared temperature measurement, partial discharge detection, and 3D modeling.

[0003] If a drone is involved in a scrape, collision, or crosses a boundary during an inspection, it may cause damage to critical equipment or even trigger a power outage.

[0004] In related technologies, to avoid the above problems, drones are controlled by manual operation or by using lidar to collect information about the surrounding environment. However, these methods still have the problem of difficulty in adapting to different flight environments and low flight safety. Summary of the Invention

[0005] In view of the above problems, this application provides a method and apparatus for constructing a protected domain for unmanned aerial vehicles (UAVs).

[0006] According to the first aspect of this application, a method for constructing a protected domain for an unmanned aerial vehicle (UAV) is provided, comprising: processing flight situation information generated by the UAV during flight based on spatial constraints to obtain a protected domain space including multiple location points, wherein the spatial constraints are used to determine the location range corresponding to the location points, and the flight direction information in the flight situation information is matched with the protection direction of the protected domain space; predicting the space to be reached by the UAV during a predicted period based on the UAV's flight situation information to obtain at least one predicted flight space; determining protected domain safety assessment information based on flight weights determined by the UAV's flight situation information and environmental risk information, wherein the environmental risk information is determined based on flight environment information collected by the UAV during flight, and the flight weights characterize the flight safety level of the UAV; and adjusting the protected domain space according to adjustment parameters corresponding to the predicted flight space and the protected domain safety assessment information to obtain a target protected domain space.

[0007] According to an embodiment of this application, based on spatial constraints, flight situation information generated by a UAV during flight is processed to obtain a protected domain space including multiple location points. This includes: determining at least one distance information for the protected domain space based on speed information, position information, and a predetermined safe distance associated with the UAV in the flight situation information; the distance information characterizing the distance between the center position and at least one boundary position of the protected domain space; fusing speed information, position information, and flight direction information to determine the center position of the protected domain space, where the flight direction information is determined based on the speed information; determining multiple location points based on spatial constraints, at least one distance information, the center position, and a target transformation matrix; the target transformation matrix mapping the flight direction in the UAV coordinate system to the protected domain coordinate system; and determining the protected domain space based on the multiple location points.

[0008] According to an embodiment of this application, determining at least one distance information of the protected domain space based on the speed information, position information, and a predetermined safe distance associated with the UAV indicated by flight situation information includes: fusing the ratio between the speed information and the braking information of the UAV, and the speed information and the predetermined safe distance to obtain first distance information, wherein the braking information characterizes the deceleration of the UAV during flight along a specified flight direction; fusing safety scale information, speed information, and the predetermined safe distance to obtain second distance information, wherein the safety scale information is obtained based on the flight situation information and characterizes the displacement range within which the UAV maintains safe flight during flight based on the flight situation information; fusing a risk coefficient and the predetermined safe distance to obtain third distance information, wherein the risk coefficient is obtained by processing the position information based on an adjustment function and characterizes the flight risk of the UAV during flight based on the position information; and determining at least one distance information of the UAV based on at least one of the first distance information, the second distance information, and the third distance information.

[0009] According to an embodiment of this application, determining multiple location points based on at least one distance information, a center position, and a target matrix includes: fusing the difference between a preset location point and a center position, a distance matrix determined by at least one distance information, and a target matrix to obtain fused data; and determining the preset location point as a location point if the fused data satisfies spatial constraints.

[0010] According to an embodiment of this application, determining a protection domain space based on multiple location points includes: determining an initial protection domain space based on multiple location points; and determining the initial protection domain space as the protection domain space when the spatial range change between the initial protection domain space and the historical protection domain space meets a preset change range condition. The historical protection domain space is the target protection domain space obtained at a historical moment based on historical flight situation information and historical environmental risk information.

[0011] According to an embodiment of this application, the protection domain safety assessment information is determined based on the flight weights determined by the UAV's flight situation information and environmental risk information. This includes: processing the UAV's braking information and maneuvering information using a safety capability mapping function to determine the UAV's flight safety capability information, where the maneuvering information characterizes the acceleration of the UAV during flight along a specified flight direction; and fusing the flight weights, flight safety capability information, and predetermined safety distance to determine the protection domain safety assessment information.

[0012] According to an embodiment of this application, the above method further includes: when at least one predicted flight space meets the risk contact condition, assigning weights to the safety coefficients obtained by predicting the predicted flight space using a time window based on a weight allocation function to obtain a corrected weight; fusing the corrected weight and the flight weight to obtain a target flight weight, wherein the flight weight is determined based on the flight situation information and environmental risk information using the weight allocation function; wherein, determining the protection domain safety assessment information based on the flight weight determined by the UAV's flight situation information and environmental risk information includes: determining the protection domain safety assessment information based on the target flight weight.

[0013] According to an embodiment of this application, adjusting the protective domain space according to adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information respectively, to obtain a target protective domain space, includes: adjusting the protective domain space according to a first adjustment parameter corresponding to the predicted flight space to obtain an intermediate protective domain space, wherein the distance between the intermediate protective domain space and the risk target associated with the predicted flight space is greater than or equal to a preset distance; and adjusting the intermediate protective domain space according to a second adjustment parameter corresponding to the protective domain security assessment information to obtain a target protective domain space, wherein the target protective domain space is greater than or equal to a preset protective domain space associated with the second adjustment parameter.

[0014] The second aspect of this application provides a protective domain construction device for an unmanned aerial vehicle (UAV), comprising: a first processing module, configured to process flight situation information generated by the UAV during flight based on spatial constraints to obtain a protective domain space including multiple location points, wherein the spatial constraints are used to determine the location range corresponding to the location points, and the flight direction information in the flight situation information is matched with the protective direction of the protective domain space; a first prediction module, configured to predict the space to be reached by the UAV during a prediction period based on the UAV's flight situation information to obtain at least one predicted flight space; a first determination module, configured to determine protective domain safety assessment information based on flight weights determined by the UAV's flight situation information and environmental risk information, wherein the environmental risk information is determined based on flight environment information collected by the UAV during flight, and the flight weights characterize the flight safety level of the UAV; and a first adjustment module, configured to adjust the protective domain space according to adjustment parameters corresponding to the predicted flight space and the protective domain safety assessment information respectively to obtain a target protective domain space.

[0015] A third aspect of this application provides an electronic device comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method described above.

[0016] A fourth aspect of this application also provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0017] The fifth aspect of this application also provides a computer program product, including a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0018] According to embodiments of this application, based on spatial constraints, the flight situation information generated by the UAV during flight is processed to generate a protective domain space. This allows the protective domain space to be dynamically adjusted as the UAV's flight process changes, and it avoids the problem of the protective domain space being too large or too small based on spatial constraints. Furthermore, the space to be reached by the UAV during the predicted time period is predicted, so that the protective domain space can predict the risks that may be encountered in the future. At the same time, based on the flight weight determined by the UAV's flight situation information and environmental risk information, protective domain safety assessment information is determined. This can determine whether the UAV is safe during flight after the protective domain space is adjusted according to the predicted flight space, and further fine-tune the adjusted protective domain space, so that the target protective domain space can adapt to different flight environments and improve the safety of the target protective domain space. Attached Figure Description

[0019] The above-mentioned contents, other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0020] Figure 1 The illustration shows an application scenario diagram of the protection domain construction method, apparatus, device, medium, and program product for unmanned aerial vehicles according to embodiments of this application;

[0021] Figure 2 A flowchart of a method for constructing a protection domain for a drone according to an embodiment of this application is shown;

[0022] Figure 3 A schematic diagram of a method for constructing a protection domain for a drone according to an embodiment of this application is shown;

[0023] Figure 4 A structural block diagram of a protection domain construction device for a drone according to an embodiment of this application is shown;

[0024] Figure 5 A block diagram of an electronic device suitable for implementing a method for constructing a protected domain for unmanned aerial vehicles (UAVs) according to an embodiment of this application is shown. Detailed Implementation

[0025] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0027] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0028] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0029] In recent years, with the development of drone technology, drones, with their advantages of high mobility, convenient deployment, and flexible viewing angles, have been widely used in substations for visible light inspection, infrared thermography, partial discharge detection, and 3D modeling. Compared with traditional manual inspections or fixed camera monitoring, drone inspections can significantly improve the coverage and efficiency of operations and reduce the safety risks of personnel entering high-risk areas. However, substation scenarios generally have characteristics such as limited flight space, severe structural obstructions, and dense gaps between power cables and frames. If a drone scrapes, collides, or crosses boundaries during inspection, it may cause damage to critical equipment or even trigger a power outage. Therefore, safety protection during drone inspections has become a critical aspect of project implementation.

[0030] Existing technologies related to the safety and protection of drone inspections mainly fall into the following three categories:

[0031] The first category is manual control with fixed rule constraints. This involves the pilot controlling the drone via a remote controller or ground station, supplemented by fixed rules such as altitude limits, speed limits, or no-fly zones. This method is simple to implement and intuitive to operate, but it relies heavily on the pilot's experience and is prone to misoperation when visibility is obstructed, signal fluctuations occur, or the drone is operating near high-voltage equipment. Furthermore, fixed thresholds or fixed radii of safety rules are insufficient to meet the demands of high-speed flight and navigating confined spaces, easily leading to inadequate protection or overly conservative approaches.

[0032] The second category is a single-drone closed-loop obstacle avoidance method based on airborne perception. The drone perceives its environment through vision, lidar, or depth sensors, and combines this with algorithms such as reactive obstacle avoidance, model predictive control, or safety constraint control to achieve local obstacle avoidance and flight control. This method improves autonomy to some extent, but typically relies on high onboard computing power and sensor performance. Its safety logic is often highly coupled with specific flight control and planning algorithms, and there are significant differences between different vendor platforms. This makes it difficult to form a universal, low-modification-cost safety protection capability in a station-level central control scenario where multiple drones from different manufacturers are uniformly connected.

[0033] The third category is safety protection based on velocity space filtering, which maps potential collision risks to prohibited areas in velocity space and projects or modifies the control output to avoid entering dangerous velocity sets. This type of method has certain advantages in formal constraints, but it usually relies on explicit obstacle modeling and relative velocity estimation, and has limited ability to express the large number of static and complex structures, small wire bundles, and narrow passages between equipment in substations. At the same time, its safety constraints mainly act on velocity space, which has weak intuitiveness and interpretability, making it difficult for operation and maintenance personnel to understand and for station-level safety supervision.

[0034] This application does not rely on the specific implementation of the internal planning, obstacle avoidance or control algorithms of UAVs, but achieves unified safety supervision based on the available flight situation information and environmental risk information from the outside, so as to realize the unified access of heterogeneous UAVs.

[0035] Specifically, embodiments of this application provide a method for constructing a protected domain for unmanned aerial vehicles (UAVs). Based on spatial constraints, the method processes flight situation information generated by the UAV during flight to generate a protected domain space. This allows the protected domain space to be dynamically adjusted as the UAV's flight progresses, and avoids the problem of the protected domain space being too large or too small based on spatial constraints. Furthermore, the method predicts the space the UAV will reach during the predicted time period, enabling the protected domain space to predict potential future risks. Simultaneously, based on flight weights determined by the UAV's flight situation information and environmental risk information, the method determines the safety assessment information of the protected domain. This allows the method to determine whether the UAV is safe during flight after adjusting the protected domain space according to the predicted flight space. The method further fine-tunes the adjusted protected domain space, making the target protected domain space adaptable to different flight environments and improving the safety of the target protected domain space.

[0036] Figure 1 The diagram illustrates an application scenario of a method, apparatus, device, medium, and program product for constructing a protected domain for a drone according to embodiments of this application.

[0037] like Figure 1 As shown, the application scenario according to this embodiment may include terminal device 101, terminal device 102, terminal device 103, network 104, and server 105. Network 104 is used as a medium to provide a communication link between terminal device 101, terminal device 102, terminal device 103, and server 105. Network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0038] Users can use terminal devices 101, 102, and 103 to interact with server 105 via network 104 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 101, 102, and 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social media platform software, etc. (for example only).

[0039] Terminal devices 101, 102, and 103 can be various electronic devices with displays and web browsing capabilities, including but not limited to smartphones, tablets, laptops, and desktop computers.

[0040] Server 105 can be a server that provides various services, such as a backend management server that supports websites browsed by users using terminal devices 101, 102, and 103 (this is just an example). The backend management server can analyze and process data such as received user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal devices.

[0041] It should be noted that the drone protection domain construction method provided in this application embodiment can generally be executed by server 105. Correspondingly, the drone protection domain construction device provided in this application embodiment can generally be located in server 105. The drone protection domain construction method provided in this application embodiment can also be executed by a server or server cluster that is different from server 105 and capable of communicating with terminal devices 101, 102, 103, and / or server 105. Correspondingly, the drone protection domain construction device provided in this application embodiment can also be located in a server or server cluster that is different from server 105 and capable of communicating with terminal devices 101, 102, 103, and / or server 105.

[0042] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0043] The following will be based on Figure 1 The described scene, through Figures 2-3 The method for constructing the protection domain of a drone according to the embodiments of the application is described in detail.

[0044] Figure 2 A flowchart of a method for constructing a protection domain for a drone according to an embodiment of this application is shown.

[0045] like Figure 2As shown, the method for constructing the protection domain of a drone in this embodiment includes operations S210 to S240.

[0046] In operation of S210, based on spatial constraints, the flight situation information generated by the UAV during flight is processed to obtain a protection domain space including multiple location points.

[0047] Spatial constraints are used to determine the location range corresponding to a location point, and the flight direction information in the flight situation information is matched with the protection direction of the protection domain space.

[0048] In operation S220, based on the UAV's flight status information, the space to be reached by the UAV during the predicted time period is predicted, and at least one predicted flight space is obtained.

[0049] When operating S230, the security assessment information of the protected area is determined based on the flight weights determined by the UAV's flight situation information and environmental risk information.

[0050] Environmental risk information is determined based on flight environment information collected by the drone during flight, and flight weight characterizes the flight safety level of the drone.

[0051] In operation S240, the protective domain space is adjusted according to the adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information, to obtain the target protective domain space.

[0052] The protected area can be the space in which a drone can fly safely during its flight.

[0053] Based on the spatial locations of multiple location points, the spatial location of the protected domain is determined, wherein the spatial locations of the multiple location points are within the location range indicated by the spatial constraint conditions.

[0054] Spatial constraints can be used to constrain the center position of the protected domain space to point to different safe dimensions, so that the selected positions are within the range of the safe dimensions, that is, the position range indicated by the spatial constraints.

[0055] The aforementioned different directions can include the forward, lateral, upward, and downward directions of the protected domain space. The forward direction can be a horizontal direction related to the flight direction of the drone, the lateral direction is a direction related to the periphery of the drone, and the upward and downward directions can be vertical directions related to the top or bottom of the drone.

[0056] Flight situation information can be information generated by a UAV during flight, and can be represented as... ,in, Indicates the current location of the drone; This represents the current velocity vector of the drone; Indicates the current acceleration of the drone; The attitude parameters of the UAV can include yaw, pitch, and roll. This indicates the braking information of the drone under the current operating conditions, and can be the drone's maximum equivalent braking capacity. This represents a comprehensive latency estimate, which can include sensing, communication, and execution latency.

[0057] The flight direction information in the flight situation information can be derived from the UAV's current velocity vector. It's confirmed.

[0058] Predicting the space that a drone will reach during the prediction period can be done to avoid the lag problem caused by triggering safety protection only after the drone approaches or touches the risk boundary. Specifically, instead of extrapolating the single future trajectory of the drone during the prediction period, a set of estimates of the spatial regions that it may reach during the prediction period can be made to obtain at least one predicted flight space.

[0059] Specifically, it can be as shown in formula (1):

[0060] (1);

[0061] in, include For at least one predicted flight space, the function Describe the state evolution of a UAV under given control inputs and time span. This represents the set of uncertainties in the control input.

[0062] This reflects the situation of drones during the forecast period under the current flight situation information and uncertainties. The possible spatial range that can be covered.

[0063] Let the set of high-risk areas or risk boundaries in the flight environment be . The spatial relationship between the predicted flight space and the risk area is detected. When there is a spatial overlap between the predicted flight space and the risk area during a certain prediction period, it is determined that the UAV has a potential risk of collision. The earliest predicted moment when a potential risk of triggering a trend is established is defined as the time window. .

[0064] Environmental risk information can be determined based on flight environment information collected by the UAV during flight, and can be represented as follows: ,in, This indicates the semantic risk level corresponding to the drone's current location; Indicates the distance of the drone to the nearest obstacle or high-risk boundary; This represents the gradient of the distance field, used to describe the directionality of risk; Indicator of local structural complexity; This indicates an indicator of environmental risk uncertainty. The aforementioned environmental risk information is used to characterize the safety level and risk distribution characteristics of the space in which the drone operates.

[0065] Flight weight can be used to assess the flight safety of a drone. Flight weight can be obtained by processing flight situation information and environmental risk information using a weight allocation function.

[0066] Protected domain safety assessment information can include whether the drone's current protected domain space is safe to fly, and how to adjust the drone's current protected domain space.

[0067] The adjustment parameters corresponding to the predicted flight space and the protection domain security assessment information can be adjustment strategies for the protection domain space, such as shrinking or expanding the protection domain space.

[0068] The protective domain space is adjusted according to the adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information, which may involve shrinking or expanding the protective domain space to obtain the target protective domain space.

[0069] According to embodiments of this application, based on spatial constraints, the flight situation information generated by the UAV during flight is processed to generate a protective domain space. This allows the protective domain space to be dynamically adjusted as the UAV's flight process changes, and it avoids the problem of the protective domain space being too large or too small based on spatial constraints. Furthermore, the space to be reached by the UAV during the predicted time period is predicted, so that the protective domain space can predict the risks that may be encountered in the future. At the same time, based on the flight weight determined by the UAV's flight situation information and environmental risk information, protective domain safety assessment information is determined. This can determine whether the UAV is safe during flight after the protective domain space is adjusted according to the predicted flight space, and further fine-tune the adjusted protective domain space, so that the target protective domain space can adapt to different flight environments and improve the safety of the target protective domain space.

[0070] According to an embodiment of this application, based on spatial constraints, flight situation information generated by a UAV during flight is processed to obtain a protected domain space including multiple location points. This includes: determining at least one distance information for the protected domain space based on speed information, position information, and a predetermined safe distance associated with the UAV in the flight situation information; the distance information characterizing the distance between the center position and at least one boundary position of the protected domain space; fusing speed information, position information, and flight direction information to determine the center position of the protected domain space, where the flight direction information is determined based on the speed information; determining multiple location points based on spatial constraints, at least one distance information, the center position, and a target transformation matrix; the target transformation matrix mapping the flight direction in the UAV coordinate system to the protected domain coordinate system; and determining the protected domain space based on the multiple location points.

[0071] The predetermined safety distance associated with a drone can be a predetermined distance between the center position and any boundary position of a pre-defined protected area.

[0072] The speed information in the flight situation information can be the UAV's current velocity vector. Location information can be the drone's current location. .

[0073] Based on the speed and position information from the flight situation information, as well as the predetermined safe distance associated with the UAV, at least one distance information for the protected domain space is determined. This can be achieved by constructing the UAV's protected domain space using parametric modeling based on the speed, position, and predetermined safe distance associated with the UAV from the flight situation information, enabling the protected domain space to adaptively adjust to the flight situation information. The protected domain space is a velocity-aligned anisotropic structure, exhibiting different protection scales in the forward, lateral, and vertical directions, i.e., at least one distance information, to reflect the UAV's braking needs and risk sensitivity in different directions.

[0074] The fusion of speed information, position information and flight direction information can be shown in formula (2).

[0075] (2);

[0076] in, As the center of the protected domain space, For location information, For speed information, The bias coefficient, This is the flight direction information, among which, It can be obtained through formula (3).

[0077] (3);

[0078] in, To prevent small positive numbers from being divided by zero.

[0079] The target transformation matrix can be ,in, , The reference principal axis direction of the protected domain space in the protected domain coordinate system. This represents a rotational mapping that aligns the reference axis to the flight direction in the UAV coordinate system. It aligns the principal reference axis of the protected domain space to the flight direction, ensuring that the geometry of the protected domain space always aligns with the UAV's primary direction of motion.

[0080] Based on spatial constraints, at least one distance information, center position, and target transformation matrix, multiple location points are determined. This can be done by determining the location points of fused data containing at least one distance information, center position, and target transformation matrix, provided that the spatial constraints are met.

[0081] After determining multiple location points, the protection domain space is determined based on the space in which the multiple location points are located.

[0082] According to an embodiment of this application, at least one distance information for the protected domain space is determined based on the speed information, position information, and a predetermined safety distance associated with the UAV in the flight situation information, so that the range of the protected domain space can be dynamically adjusted with the flight situation information of the UAV. At the same time, since a target transformation matrix is ​​added in the process of determining multiple position points, the constructed protected domain space can be made to be consistent with the flight direction of the UAV.

[0083] According to an embodiment of this application, determining at least one distance information of the protected domain space based on the speed information, position information, and a predetermined safe distance associated with the UAV indicated by flight situation information includes: fusing the ratio between the speed information and the braking information of the UAV, and the speed information and the predetermined safe distance to obtain first distance information, wherein the braking information characterizes the deceleration of the UAV during flight along a specified flight direction; fusing safety scale information, speed information, and the predetermined safe distance to obtain second distance information, wherein the safety scale information is obtained based on the flight situation information and characterizes the displacement range within which the UAV maintains safe flight during flight based on the flight situation information; fusing a risk coefficient and the predetermined safe distance to obtain third distance information, wherein the risk coefficient is obtained by processing the position information based on an adjustment function and characterizes the flight risk of the UAV during flight based on the position information; and determining at least one distance information of the UAV based on at least one of the first distance information, the second distance information, and the third distance information.

[0084] The ratio between speed information and UAV braking information, as well as the speed information and the predetermined safe distance, can be fused as shown in formula (4).

[0085] (4);

[0086] in, The first distance information can be the forward scale of the protected domain space. To maintain a safe distance, For coefficients, Braking information represents the deceleration of the UAV during its flight along a specified flight direction.

[0087] Formula (4) reflects the characteristic that the first distance information increases nonlinearly with increasing speed, and can cover the braking distance requirements of UAVs at high speeds.

[0088] The fusion of safety scale information, speed information and predetermined safety distance can be shown in formulas (5) and (6).

[0089] (5);

[0090] (6);

[0091] in, This indicates the second distance information from above. This indicates the second distance information downwards. Indicates based on flight situation information The obtained full-scale information, , , and is a coefficient.

[0092] Formulas (5) and (6) demonstrate that safety requirements in the vertical direction are typically asymmetrical. The vertical scale is decomposed into two independent parameters, upward and downward, denoted as follows: and The two values ​​can differ. The upward second distance information covers aerodynamic and structural safety requirements during the drone's ascent, while the downward second distance information covers high-risk areas such as gravity, downwash, and equipment or ground below. Through an asymmetric vertical design, the protection domain can more realistically reflect the risk differences of the drone in the vertical direction.

[0093] By fusing the risk coefficient and the predetermined safety distance, the third distance information can be obtained, as shown in formula (7).

[0094] (7);

[0095] in, This is the third distance information. For coefficients, For adjustment function, Spatial gradient of location information.

[0096] Formula (7) reflects that when the UAV approaches a lateral obstacle or the passage narrows, the spatial gradient of the position information increases, and the third distance information of the protected domain space increases accordingly; when the lateral space is open, the third distance information of the protected domain space automatically shrinks to avoid being overly conservative.

[0097] Based on at least one of the first distance information, the second distance information, and the third distance information, at least one distance information of the UAV is determined, which reflects that the protected domain space has different distance information in different directions. The first distance information is used to cover braking distance requirements, the third distance information is used to adapt to channel width constraints, and the second distance information is used to reflect the asymmetry of risks in the vertical direction.

[0098] According to embodiments of this application, since different risks arise in different areas surrounding the drone during flight, at least one of the first distance information, the second distance information, and the third distance information is calculated based on the different adaptability of each area, thereby enabling the protection domain space to be suitable for the drone's flight environment.

[0099] According to an embodiment of this application, determining multiple location points based on at least one distance information, a center position, and a target matrix includes: fusing the difference between a preset location point and a center position, a distance matrix determined by at least one distance information, and a target matrix to obtain fused data; and determining the preset location point as a location point if the fused data satisfies spatial constraints.

[0100] The difference between the preset location point and the center location, the distance matrix determined by at least one distance information and the target matrix are fused together, and the fused data can be shown in formula (8).

[0101] (8);

[0102] in, This is a preset location point.

[0103] If the fused data meets the spatial constraints, it can be In this case, the preset location point will be determined as the location point.

[0104] According to the embodiments of this application, the flight direction in the UAV coordinate system is mapped to the protection domain coordinate system, and first distance information, second distance information and third distance information are set in the forward, lateral and upward and downward directions, respectively, so as to explicitly reflect the flight safety characteristics such as forward braking requirements, lateral channel constraints and vertical risk asymmetry, determine multiple position points, and overcome the shortcomings of not being able to distinguish directional risks and being difficult to adapt to high-speed flight and narrow space operations at the same time.

[0105] According to an embodiment of this application, determining a protection domain space based on multiple location points includes: determining an initial protection domain space based on multiple location points; and determining the initial protection domain space as the protection domain space when the spatial range change between the initial protection domain space and the historical protection domain space meets a preset change range condition. The historical protection domain space is the target protection domain space obtained at a historical moment based on historical flight situation information and historical environmental risk information.

[0106] Based on the protective domain coordinate system determined by the center position of the protective domain space, the coordinates of multiple location points in the protective domain coordinate system are determined, and the multiple location points that are farthest from the center position in multiple directions are determined as the protective domain boundaries, thus obtaining the initial protective domain space.

[0107] In the initial protective domain space and historical protection space The spatial range variation between them meets the preset variation range condition. In this case, the initial protection domain space is determined as the protection domain space, that is... .

[0108] If the change in spatial extent between the initial protection domain space and the historical protection domain space does not meet the preset change range condition, the spatial extent of the initial protection domain space will be adjusted, such as expanded or scaled, so that... Thus, the protective domain space is obtained.

[0109] According to the embodiments of this application, by determining whether the change range of the spatial range between the initial protection domain space and the historical protection domain space meets the preset change range condition, the protection domain space can evolve smoothly, thereby improving system stability and engineering availability.

[0110] According to an embodiment of this application, the protection domain safety assessment information is determined based on the flight weights determined by the UAV's flight situation information and environmental risk information. This includes: processing the UAV's braking information and maneuvering information using a safety capability mapping function to determine the UAV's flight safety capability information, where the maneuvering information characterizes the acceleration of the UAV during flight along a specified flight direction; and fusing the flight weights, flight safety capability information, and predetermined safety distance to determine the protection domain safety assessment information.

[0111] The flight safety capability information of the UAV can be determined by processing the braking information and maneuvering information of the UAV using the safety capability mapping function, as shown in formula (9).

[0112] (9);

[0113] in, Information on the flight safety capabilities of drones. For security capability mapping function, For the braking information of the drone, For the maneuvering information of the drone, For comprehensive latency estimation, it can include sensing, communication, and execution latency.

[0114] In formula (9) Used to uniformly map multidimensional capability parameters to scalar or low-dimensional budget quantities. It reflects the overall security resources that drones can use to address potential risks in the current situation, and its size changes dynamically with flight status and system conditions.

[0115] By integrating flight weights, flight safety capability information, and predetermined safety distances, the safety assessment information of the protected domain can be determined as shown in formula (10).

[0116] (10);

[0117] in, For protection domain security assessment information, This refers to the predetermined safe distance, which is the minimum distance information in all directions within the protected area. The flight weights in each direction of the protected area are not fixed constants, but are dynamically adjusted based on flight situation information and environmental risk information.

[0118] Formula (10) based on and Adaptive allocation of limited security capability resources is performed on the protection domain scale in different directions to obtain protection domain security assessment information, thereby determining the optimal security distance that can be determined based on the current security capability resources of the unmanned aircraft.

[0119] According to the embodiments of this application, the safety assessment information of the protection domain is determined based on flight weight, flight safety capability information and predetermined safety distance. This enables adaptive redistribution under different flight states and risk conditions, so that the protection domain space can provide sufficient protection under high-risk conditions and avoid excessive expansion under low-risk conditions, thereby balancing flight safety and space utilization efficiency.

[0120] According to an embodiment of this application, the above method further includes: when at least one predicted flight space meets the risk contact condition, assigning weights to the safety coefficients obtained by predicting the predicted flight space using a time window based on a weight allocation function to obtain a corrected weight; fusing the corrected weight and the flight weight to obtain a target flight weight, wherein the flight weight is determined based on the flight situation information and environmental risk information using the weight allocation function; wherein, determining the protection domain safety assessment information based on the flight weight determined by the UAV's flight situation information and environmental risk information includes: determining the protection domain safety assessment information based on the target flight weight.

[0121] The flight weight is updated when at least one predicted flight space meets the risk contact condition. This can be done by increasing the flight weight corresponding to the first distance information when there is high-speed forward flight or a small time window related to the predicted flight space, so as to prioritize braking and forward safety; and by increasing the flight weight corresponding to the second distance information when there is a narrow passage or significant lateral risk, so as to enhance lateral protection capability.

[0122] The corrected weights can be generated by taking the time window as the input feature and passing it through a weight allocation function. Specifically, the remaining safe time obtained by predicting the predicted flight space is mapped to a dimensionless urgency coefficient (e.g., 0~1 or -1~1). That is, the safety coefficient obtained by predicting the predicted flight space using the time window is used to generate the corrected weights corresponding to the safety coefficient.

[0123] The target flight weight is obtained by combining the correction weight and the flight weight, as shown in formula (11).

[0124] (11);

[0125] in, For target flight weight, For flight weight, To adjust the weights.

[0126] After obtaining the target flight weight, the security assessment information of the protected domain is determined based on the target flight weight.

[0127] According to an embodiment of this application, by assigning weights to the safety coefficients obtained by predicting the flight space using time windows, a corrected weight is obtained, which enables rapid reconstruction of the protected domain space by adjusting the weights without increasing the overall safety capability budget.

[0128] According to an embodiment of this application, adjusting the protective domain space according to adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information respectively, to obtain a target protective domain space, includes: adjusting the protective domain space according to a first adjustment parameter corresponding to the predicted flight space to obtain an intermediate protective domain space, wherein the distance between the intermediate protective domain space and the risk target associated with the predicted flight space is greater than or equal to a preset distance; and adjusting the intermediate protective domain space according to a second adjustment parameter corresponding to the protective domain security assessment information to obtain a target protective domain space, wherein the target protective domain space is greater than or equal to a preset protective domain space associated with the second adjustment parameter.

[0129] Based on the first adjustment parameter corresponding to the predicted flight space, the protection domain space is adjusted to obtain the intermediate protection domain space, which can be... ,in, For intermediate protective domain space, To protect the domain space, This is the risk mapping function.

[0130] Based on the second adjustment parameter corresponding to the security assessment information of the protection domain, the intermediate protection domain space is adjusted. This can be done by determining whether the intermediate protection domain space is greater than or equal to the preset protection domain space formed by the security assessment information of the protection domain. If it is less than, the spatial difference between the intermediate protection domain space and the preset protection domain space is determined as the second adjustment parameter to adjust the intermediate protection domain space so that the target protection domain space is greater than or equal to the preset protection domain space.

[0131] If the intermediate protection domain space is larger than the preset protection domain space composed of protection domain security assessment information, the intermediate protection domain space can be adaptively shrunk based on the difference between the intermediate protection domain space and the preset protection domain space composed of protection domain security assessment information to obtain the target protection domain space, so as to avoid the problem of excessive expansion of the protection domain.

[0132] In addition, the safety status of the intermediate protection domain space can be determined based on the difference between the preset protection domain space and the intermediate protection domain space formed by the protection domain safety assessment information. Based on the safety status of the intermediate protection domain space, control operations such as alarms, speed limits, speed constraints, and emergency stops can be issued to the drone to improve the flight safety of the drone.

[0133] According to embodiments of this application, by making the update of the protection domain space no longer dependent on the immediate contact or boundary crossing events of risks, but based on the prediction of the flight space for advance adjustment, a more forward-looking security protection is achieved. Furthermore, based on the protection domain security assessment information, the intermediate protection domain space is transformed from fixed geometric constraints to safe scheduling, thereby improving the security of the target protection domain space.

[0134] Figure 3A schematic diagram of a method for constructing a protection domain for a drone according to an embodiment of this application is shown.

[0135] like Figure 3 As shown, based on spatial constraints, the flight situation information generated by the UAV during flight is processed to obtain a protected domain space including multiple location points. Further, based on the UAV's flight situation information, the space the UAV will reach during the predicted time period is predicted, resulting in at least one predicted flight space. The protected domain space is adjusted according to a first adjustment parameter corresponding to the predicted flight space to obtain an intermediate protected domain space. Based on the flight weights determined by the UAV's flight situation information and environmental risk information, protected domain safety assessment information is determined. Based on a second adjustment parameter corresponding to the protected domain safety assessment information, the intermediate protected domain space is adjusted to obtain the target protected domain space.

[0136] Based on the aforementioned method for constructing a protected domain for unmanned aerial vehicles (UAVs), this application also provides a device for constructing a protected domain for UAVs. The following will be combined with... Figure 4 The device is described in detail.

[0137] Figure 4 A structural block diagram of a protection domain construction device for a drone according to an embodiment of this application is shown.

[0138] like Figure 4 As shown, the drone protection domain construction device 400 of this embodiment includes a first processing module 410, a first prediction module 420, a first determination module 430 and a first adjustment module 440.

[0139] The first processing module 410 is used to process the flight situation information generated by the UAV during flight based on spatial constraints to obtain a protection domain space including multiple location points. The spatial constraints are used to determine the location range corresponding to the location points, and the flight direction information in the flight situation information is matched with the protection direction of the protection domain space. In one embodiment, the first processing module 410 can be used to execute the operation S210 described above, which will not be repeated here.

[0140] The first prediction module 420 is used to predict the space that the UAV will reach during the prediction period based on the UAV's flight status information, thereby obtaining at least one predicted flight space. In one embodiment, the first prediction module 420 can be used to perform the operation S220 described above, which will not be repeated here.

[0141] The first determining module 430 is used to determine the protection domain safety assessment information based on the flight weights determined by the UAV's flight status information and environmental risk information. The environmental risk information is determined based on the flight environment information collected by the UAV during flight, and the flight weights characterize the flight safety level of the UAV. In one embodiment, the first determining module 430 can be used to perform the operation S230 described above, which will not be repeated here.

[0142] The first adjustment module 440 is used to adjust the protection domain space according to the adjustment parameters corresponding to the predicted flight space and protection domain security assessment information, respectively, to obtain the target protection domain space. In one embodiment, the first adjustment module 440 can be used to perform the operation S240 described above, which will not be repeated here.

[0143] According to embodiments of this application, based on spatial constraints, the flight situation information generated by the UAV during flight is processed to generate a protective domain space. This allows the protective domain space to be dynamically adjusted as the UAV's flight process changes, and it avoids the problem of the protective domain space being too large or too small based on spatial constraints. Furthermore, the space to be reached by the UAV during the predicted time period is predicted, so that the protective domain space can predict the risks that may be encountered in the future. At the same time, based on the flight weight determined by the UAV's flight situation information and environmental risk information, protective domain safety assessment information is determined. This can determine whether the UAV is safe during flight after the protective domain space is adjusted according to the predicted flight space, and further fine-tune the adjusted protective domain space, so that the target protective domain space can adapt to different flight environments and improve the safety of the target protective domain space.

[0144] According to an embodiment of this application, the first processing module 410 includes a first determining submodule, a second determining submodule, a third determining submodule, and a fourth determining submodule.

[0145] The first determining submodule is used to determine at least one distance information for the protected domain space based on the speed information, position information and the predetermined safety distance associated with the UAV in the flight situation information. The distance information represents the distance between the center position and at least one boundary position of the protected domain space.

[0146] The second determination submodule is used to fuse speed information, position information, and flight direction information to determine the center position of the protected area space. The flight direction information is determined based on the speed information.

[0147] The third determination submodule is used to determine multiple location points based on spatial constraints, at least one distance information, center position, and target transformation matrix. The target transformation matrix is ​​used to map the flight direction in the UAV coordinate system to the protection domain coordinate system.

[0148] The fourth determination submodule is used to determine the protection domain space based on multiple location points.

[0149] According to an embodiment of this application, the first determining submodule includes a first obtaining unit, a second obtaining unit, a third obtaining unit, and a first determining unit.

[0150] The first obtaining unit is used to fuse the ratio between the speed information and the braking information of the UAV, the speed information and the predetermined safety distance to obtain the first distance information. The braking information represents the deceleration of the UAV during flight along the specified flight direction.

[0151] The second obtaining unit is used to fuse safety scale information, speed information and predetermined safety distance to obtain second distance information. The safety scale information is obtained based on flight situation information and represents the displacement range of the UAV to maintain safe flight during flight based on flight situation information.

[0152] The third unit is used to fuse the risk coefficient and the predetermined safe distance to obtain the third distance information. The risk coefficient is obtained by processing the position information based on the adjustment function. The risk coefficient characterizes the flight risk of the UAV during the flight process based on the position information.

[0153] The first determining unit is used to determine at least one distance information of the UAV based on at least one of the first distance information, the second distance information, and the third distance information.

[0154] According to an embodiment of this application, the third determining submodule includes a fourth obtaining unit and a second determining unit.

[0155] The fourth unit is used to fuse the difference between the preset location point and the center location, the distance matrix determined by at least one distance information, and the target matrix to obtain fused data.

[0156] The second determining unit is used to determine the preset location point as the location point when the fused data meets the spatial constraints.

[0157] According to an embodiment of this application, the fourth determining submodule includes a third determining unit and a fourth determining unit.

[0158] The third determining unit is used to determine the initial protection domain space based on multiple location points.

[0159] The fourth determining unit is used to determine the initial protection domain space as the protection domain space when the change range between the initial protection domain space and the historical protection domain space meets the preset change range conditions. The historical protection domain space is the target protection domain space obtained at a historical moment based on historical flight situation information and historical environmental risk information.

[0160] According to an embodiment of this application, the first determining module 430 includes a fifth determining submodule and a sixth determining submodule.

[0161] The fifth determination submodule is used to process the braking information and maneuvering information of the UAV using the safety capability mapping function to determine the flight safety capability information of the UAV. The maneuvering information represents the acceleration of the UAV during flight along a specified flight direction.

[0162] The sixth determination submodule is used to integrate flight weights, flight safety capability information, and predetermined safety distances to determine the protection domain safety assessment information.

[0163] According to an embodiment of this application, the first determining module 430 includes a first allocation module, a first obtaining module, and a second determining module.

[0164] The first allocation module is used to allocate weights to the safety coefficients obtained by predicting the predicted flight space using a time window, based on a weight allocation function, when at least one predicted flight space meets the risk touch condition, so as to obtain the corrected weights.

[0165] The first module is used to fuse the correction weights and flight weights to obtain the target flight weights, where the flight weights are determined based on the flight situation information and environmental risk information using a weight allocation function.

[0166] The second determination module is used to determine the security assessment information of the protected domain based on the target flight weight.

[0167] According to an embodiment of this application, the first adjustment module 440 includes a first adjustment submodule and a second adjustment submodule.

[0168] The first adjustment submodule is used to adjust the protection domain space according to the first adjustment parameter corresponding to the predicted flight space to obtain an intermediate protection domain space. The distance between the intermediate protection domain space and the risk target associated with the predicted flight space is greater than or equal to a preset distance.

[0169] The second adjustment submodule is used to adjust the intermediate protection domain space according to the second adjustment parameter corresponding to the protection domain security assessment information to obtain the target protection domain space, which is greater than or equal to the preset protection domain space associated with the second adjustment parameter.

[0170] According to embodiments of this application, any plurality of modules among the first processing module 410, the first prediction module 420, the first determination module 430, and the first adjustment module 440 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least a portion of the functionality of one or more of these modules may be combined with at least a portion of the functionality of other modules and implemented in one module. According to embodiments of this application, at least one of the first processing module 410, the first prediction module 420, the first determination module 430, and the first adjustment module 440 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in a suitable combination of any of these. Alternatively, at least one of the first processing module 410, the first prediction module 420, the first determination module 430, and the first adjustment module 440 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0171] Figure 5 A block diagram of an electronic device suitable for implementing a method for constructing a protected domain for unmanned aerial vehicles (UAVs) according to an embodiment of this application is shown.

[0172] like Figure 5 As shown, an electronic device according to an embodiment of this application includes a processor 501, which can perform various appropriate actions and processes according to a program stored in ROM (Read-Only Memory) 502 or a program loaded from storage portion 508 into RAM (Random Access Memory) 503. The processor 501 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this application.

[0173] RAM 503 stores various programs and data required for the operation of the electronic device. Processor 501, ROM 502, and RAM 503 are interconnected via bus 504. Processor 501 executes various operations of the method flow according to embodiments of this application by executing programs in ROM 502 and / or RAM 503. It should be noted that the programs may also be stored in one or more memories other than ROM 502 and RAM 503. Processor 501 may also execute various operations of the method flow according to embodiments of this application by executing programs stored in said one or more memories.

[0174] According to embodiments of this application, the electronic device may further include an input / output (I / O) interface 505, which is also connected to a bus 504. The electronic device may also include one or more of the following components connected to the input / output (I / O) interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 510 as needed so that computer programs read from it can be installed into the storage section 508 as needed.

[0175] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0176] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this application, the computer-readable storage medium may include ROM 502 and / or RAM 503 and / or one or more memories other than ROM 502 and RAM 503 described above.

[0177] Embodiments of this application also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code enables the computer system to implement the UAV protection domain construction method provided in the embodiments of this application.

[0178] When the computer program is executed by the processor 501, it performs the functions defined in the system / apparatus of this application embodiment. According to the embodiments of this application, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0179] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 509, and / or installed from a removable medium 511. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0180] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by processor 501, it performs the functions defined in the system of this application embodiment. According to embodiments of this application, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0181] According to embodiments of this application, program code for executing the computer programs provided in the embodiments of this application can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0182] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0183] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0184] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A method for constructing a protected domain for unmanned aerial vehicles (UAVs), characterized in that, The method includes: Based on spatial constraints, the flight situation information generated by the UAV during flight is processed to obtain a protection domain space including multiple location points. The spatial constraints are used to determine the location range corresponding to the location points. The flight direction information in the flight situation information is matched with the protection direction of the protection domain space. Based on the flight status information of the UAV, the space to be reached by the UAV during the predicted time period is predicted to obtain at least one predicted flight space. Based on the flight weights determined by the UAV's flight status information and environmental risk information, the protection domain security assessment information is determined. The environmental risk information is determined based on the flight environment information collected by the UAV during flight. The flight weights characterize the flight safety level of the UAV. The protective domain space is adjusted according to the adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information, to obtain the target protective domain space.

2. The method according to claim 1, characterized in that, The process, based on spatial constraints, processes the flight situation information generated by the UAV during flight to obtain a protected domain space including multiple location points, including: Based on the speed information, position information, and predetermined safety distance associated with the UAV in the flight situation information, at least one distance information for the protected domain space is determined, the distance information representing the distance between the center position and at least one boundary position of the protected domain space; The speed information, position information, and flight direction information are fused to determine the center position of the protected area space, wherein the flight direction information is determined based on the speed information; Based on the spatial constraints, at least one of the distance information, the center position, and the target transformation matrix, a plurality of the position points are determined, wherein the target transformation matrix is ​​used to map the flight direction in the UAV coordinate system to the protection domain coordinate system space; The protection zone is determined based on the multiple location points.

3. The method according to claim 2, characterized in that, Determining at least one distance information of the protected area space based on the speed information, position information of the UAV indicated by the flight situation information, and a predetermined safe distance associated with the UAV, includes: The ratio between the speed information and the braking information of the UAV, and the speed information and the predetermined safety distance are fused to obtain first distance information, wherein the braking information characterizes the deceleration of the UAV during flight along a specified flight direction; The safety scale information, the speed information, and the predetermined safety distance are fused to obtain the second distance information. The safety scale information is obtained based on the flight situation information and represents the displacement range within which the UAV maintains safe flight during flight based on the flight situation information. The risk coefficient and the predetermined safe distance are fused to obtain third distance information. The risk coefficient is obtained by processing the position information based on the adjustment function. The risk coefficient characterizes the flight risk of the UAV during the flight of the UAV in the position information. At least one distance information of the UAV is determined based on at least one of the first distance information, the second distance information, and the third distance information.

4. The method according to claim 2, characterized in that, The step of determining multiple location points based on at least one of the distance information, the center position, and the target matrix includes: The difference between the preset location point and the center location, the distance matrix determined by at least one of the distance information, and the target matrix are fused to obtain fused data; If the fused data satisfies the spatial constraints, the preset location point is determined as the location point.

5. The method according to claim 2, characterized in that, Determining the protected area space based on the multiple location points includes: The initial protection domain space is determined based on the multiple location points mentioned above; If the change in the spatial range between the initial protection domain space and the historical protection domain space meets the preset change range condition, the initial protection domain space is determined as the protection domain space. The historical protection domain space is the target protection domain space obtained at a historical moment based on historical flight situation information and historical environmental risk information.

6. The method according to any one of claims 1-5, characterized in that, The determination of protection domain security assessment information based on flight weights determined by the UAV's flight status information and environmental risk information includes: The braking information and maneuvering information of the UAV are processed using a safety capability mapping function to determine the flight safety capability information of the UAV. The maneuvering information represents the acceleration of the UAV during flight along a specified flight direction. The flight weights, flight safety capability information, and predetermined safety distance are fused to determine the protection domain safety assessment information.

7. The method according to claim 1, characterized in that, The method further includes: If at least one of the predicted flight spaces meets the risk touch condition, the safety factor obtained by predicting the predicted flight space using a time window is weighted according to the weighting allocation function to obtain the corrected weight. By fusing the corrected weights and the flight weights, a target flight weight is obtained, wherein the flight weight is determined based on the flight situation information and the environmental risk information using the weight allocation function; The step of determining the protection domain security assessment information based on the flight weights determined by the UAV's flight status information and environmental risk information includes: Based on the target flight weights, the security assessment information of the protected domain is determined.

8. The method according to claim 1, characterized in that, The step of adjusting the protective domain space according to the adjustment parameters corresponding to the predicted flight space and the protective domain security assessment information to obtain the target protective domain space includes: The protection domain space is adjusted according to the first adjustment parameter corresponding to the predicted flight space to obtain an intermediate protection domain space. The distance between the intermediate protection domain space and the risk target associated with the predicted flight space is greater than or equal to a preset distance. The intermediate protection domain space is adjusted according to the second adjustment parameter corresponding to the protection domain security assessment information to obtain the target protection domain space, wherein the target protection domain space is greater than or equal to the preset protection domain space associated with the second adjustment parameter.

9. A protective domain construction device for unmanned aerial vehicles (UAVs), characterized in that, The device includes: The first processing module is used to process the flight situation information generated by the UAV during flight based on spatial constraints to obtain a protection domain space including multiple location points. The spatial constraints are used to determine the location range corresponding to the location points, and the flight direction information in the flight situation information is matched with the protection direction of the protection domain space. The first prediction module is used to predict the space that the UAV will reach during the prediction period based on the UAV's flight status information, and obtain at least one predicted flight space. The first determining module is used to determine the protection domain security assessment information based on flight weights determined by the flight status information and environmental risk information of the UAV, wherein the environmental risk information is determined based on flight environment information collected by the UAV during flight, and the flight weights characterize the flight safety level of the UAV; and The first adjustment module is used to adjust the protection domain space according to the adjustment parameters corresponding to the predicted flight space and the protection domain security assessment information, respectively, to obtain the target protection domain space.

10. An electronic device, comprising: One or more processors; Memory, used to store one or more computer programs. The characteristic feature is that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 8.

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