CN105259915A - Method for controlling unmanned aerial vehicle - Google Patents
Method for controlling unmanned aerial vehicle Download PDFInfo
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- CN105259915A CN105259915A CN201510718989.4A CN201510718989A CN105259915A CN 105259915 A CN105259915 A CN 105259915A CN 201510718989 A CN201510718989 A CN 201510718989A CN 105259915 A CN105259915 A CN 105259915A
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Abstract
The present invention discloses a method for controlling an unmanned aerial vehicle. The method comprises the steps of: respectively acquiring information of a first distance between an unmanned aerial vehicle in a current state and a barrier at the upper side along a vertically upward direction as well as information of a second distance between the unmanned aerial vehicle in the current state and a barrier at the lower side along a vertically downward direction; judging whether a ratio of the information of the first distance to the information of the second distance meets a predetermined condition; if the ratio does not meet the predetermined condition, adjusting the flight height of the unmanned aerial vehicle to enable the ratio of the information of the first distance to the information of the second distance to meet the predetermined condition after adjustment of the flight height. According to the method, the flight height of the unmanned aerial vehicle can be controlled according to the information of the first distance and the information of the second distance, the method is simple and easy to realize. At the same time, the method can avoid the unmanned aerial vehicle from colliding with the barrier at the upper or lower side during a flight process, thereby further improving the flying ability of the unmanned aerial vehicle in a complex environment.
Description
Technical field
The present invention relates to unmanned vehicle technical field, particularly relate to a kind of control method of unmanned vehicle.
Background technology
Unmanned vehicle is a kind of based on the not manned vehicle of wireless remote control or self programmed control.When unmanned vehicle free flight, need the flying height controlling unmanned vehicle to prevent unmanned vehicle vertically collision obstacle.
A kind of method that existing unmanned vehicle controls flying height is: the flying height overhead obtaining unmanned vehicle by increasing sensor bottom aircraft.Shortcoming is: under actual conditions during the flight environment of vehicle more complicated of aircraft, and during as there being barrier above aircraft, aircraft cannot detect the barrier of top, and aircraft and barrier may be caused to collide.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of control method of unmanned vehicle, solves the deficiencies in the prior art.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of control method of unmanned vehicle, and described method comprises:
S1: obtain respectively described unmanned vehicle under current state along direction straight up and above the first range information between barrier, along the second distance information straight down between direction and below barrier, along the 3rd range information between the left and left barrier of described unmanned vehicle working direction and along the 4th range information between the right and right barrier of described unmanned vehicle working direction;
S2: judge whether the ratio of described first range information and described second distance information meets predetermined condition; If the ratio of described first range information and described second distance information does not meet described predetermined condition, then in step S3: the flying height adjusting described unmanned vehicle, described first range information after adjusting to make flying height and the ratio of described second distance information meet described predetermined condition;
S4: judge whether the ratio of described 3rd range information and described 4th range information meets predetermined condition; If the ratio of described 3rd range information and described 4th range information does not meet described predetermined condition, then in step S5: the flight to the left or to the right adjusting described unmanned vehicle, meet described predetermined condition to make the ratio of described 3rd range information and described 4th range information.
The invention has the beneficial effects as follows: the situation being different from prior art, the present invention by obtain respectively unmanned vehicle under current state along direction straight up and above the first range information between barrier and along the second distance information straight down between direction and below barrier, when the ratio of judgement first range information and second distance information does not meet predetermined condition, the flying height of adjustment unmanned vehicle.By the way, the present invention can control the flying height of unmanned flight according to the first range information and second distance information, and control method is simple, be easy to realize.Meanwhile, the present invention can avoid unmanned vehicle collide in flight course above or below barrier, further enhancing the flight performance of unmanned vehicle under complex environment.
Embodiment
Be described principle of the present invention and feature below, example, only for explaining the present invention, is not intended to limit scope of the present invention.
A control method for unmanned vehicle, described method comprises:
S1: obtain respectively described unmanned vehicle under current state along direction straight up and above the first range information between barrier, along the second distance information straight down between direction and below barrier, along the 3rd range information between the left and left barrier of described unmanned vehicle working direction and along the 4th range information between the right and right barrier of described unmanned vehicle working direction;
S2: judge whether the ratio of described first range information and described second distance information meets predetermined condition; If the ratio of described first range information and described second distance information does not meet described predetermined condition, then in step S3: the flying height adjusting described unmanned vehicle, described first range information after adjusting to make flying height and the ratio of described second distance information meet described predetermined condition;
S4: judge whether the ratio of described 3rd range information and described 4th range information meets predetermined condition; If the ratio of described 3rd range information and described 4th range information does not meet described predetermined condition, then in step S5: the flight to the left or to the right adjusting described unmanned vehicle, meet described predetermined condition to make the ratio of described 3rd range information and described 4th range information.
Further: described step S2 comprises:
Judge whether the ratio of described first range information and described second distance information equals predetermined ratio.
Further: described step S3 comprises:
If the ratio of described first range information and described second distance information is greater than described predetermined ratio, then promote the described flying height of described unmanned vehicle, if the ratio of described first range information and described second distance information is less than described predetermined ratio, then reduce the described flying height of described unmanned vehicle.
Further: described step S2 comprises:
Judge whether the ratio of described first range information and described second distance information is between the first predetermined ratio and the second predetermined ratio, wherein said first predetermined ratio is greater than described second predetermined ratio.
Further: described step S3 comprises:
If the ratio of described first range information and described second distance information is greater than described first predetermined ratio, then promote the described flying height of described unmanned vehicle, if the ratio of described first range information and described second distance information is less than described second predetermined ratio, then reduce the described flying height of described unmanned vehicle.
Further: described step S1 comprises:
Obtain the height value of described top barrier and the atmospheric pressure value at barrier place, described top; Obtain the atmospheric pressure value of described unmanned vehicle under current state, and calculate described first range information according to the height value of the atmospheric pressure value under described current state, described top barrier and the atmospheric pressure value at barrier place, described top.
Further: described step S1 comprises:
Obtain and launched for first hyperacoustic first launch time in direction straight up from described unmanned vehicle edge, obtain described first ultrasound wave and touch the first time of reception that described top obstacle back reflection returns to be received, the very first time calculated between described first launch time and described first time of reception is poor, and calculates described first range information according to described very first time difference and described first hyperacoustic velocity of propagation;
Obtain and launched for second hyperacoustic second launch time in direction straight down from described unmanned vehicle edge, obtain described second ultrasound wave and touch the second time of reception that described below barrier back reflection returns to be received, calculate the second mistiming between described second launch time and described second time of reception, and calculate described second distance information according to described second mistiming and described second hyperacoustic velocity of propagation;
Obtain and launched for the 3rd hyperacoustic 3rd launch time from described unmanned vehicle along the left of described unmanned vehicle working direction, obtain described 3rd ultrasound wave and touch the 3rd time of reception that described top obstacle back reflection returns to be received, calculate the 3rd mistiming between described 3rd launch time and described 3rd time of reception, and calculate described 3rd range information according to described 3rd mistiming and described 3rd hyperacoustic velocity of propagation;
Obtain and launched for the 4th hyperacoustic 4th launch time from described unmanned vehicle along the right of described unmanned vehicle working direction, obtain described 4th ultrasound wave and touch the 4th time of reception that described top obstacle back reflection returns to be received, calculate the 4th mistiming between described 4th launch time and described 4th time of reception, and calculate described 4th range information according to described 4th mistiming and described 4th hyperacoustic velocity of propagation.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a control method for unmanned vehicle, is characterized in that, described method comprises:
S1: obtain respectively described unmanned vehicle under current state along direction straight up and above the first range information between barrier, along the second distance information straight down between direction and below barrier, along the 3rd range information between the left and left barrier of described unmanned vehicle working direction and along the 4th range information between the right and right barrier of described unmanned vehicle working direction;
S2: judge whether the ratio of described first range information and described second distance information meets predetermined condition; If the ratio of described first range information and described second distance information does not meet described predetermined condition, then in step S3: the flying height adjusting described unmanned vehicle, described first range information after adjusting to make flying height and the ratio of described second distance information meet described predetermined condition;
S4: judge whether the ratio of described 3rd range information and described 4th range information meets predetermined condition; If the ratio of described 3rd range information and described 4th range information does not meet described predetermined condition, then in step S5: the flight to the left or to the right adjusting described unmanned vehicle, meet described predetermined condition to make the ratio of described 3rd range information and described 4th range information.
2. method according to claim 1, is characterized in that, described step S2 comprises:
Judge whether the ratio of described first range information and described second distance information equals predetermined ratio.
3. method according to claim 2, is characterized in that, described step S3 comprises:
If the ratio of described first range information and described second distance information is greater than described predetermined ratio, then promote the described flying height of described unmanned vehicle, if the ratio of described first range information and described second distance information is less than described predetermined ratio, then reduce the described flying height of described unmanned vehicle.
4. method according to claim 1, is characterized in that, described step S2 comprises:
Judge whether the ratio of described first range information and described second distance information is between the first predetermined ratio and the second predetermined ratio, wherein said first predetermined ratio is greater than described second predetermined ratio.
5. method according to claim 4, is characterized in that, described step S3 comprises:
If the ratio of described first range information and described second distance information is greater than described first predetermined ratio, then promote the described flying height of described unmanned vehicle, if the ratio of described first range information and described second distance information is less than described second predetermined ratio, then reduce the described flying height of described unmanned vehicle.
6. method according to claim 1, is characterized in that, described step S1 comprises:
Obtain the height value of described top barrier and the atmospheric pressure value at barrier place, described top; Obtain the atmospheric pressure value of described unmanned vehicle under current state, and calculate described first range information according to the height value of the atmospheric pressure value under described current state, described top barrier and the atmospheric pressure value at barrier place, described top.
7. method according to claim 1, is characterized in that, described step S1 comprises:
Obtain and launched for first hyperacoustic first launch time in direction straight up from described unmanned vehicle edge, obtain described first ultrasound wave and touch the first time of reception that described top obstacle back reflection returns to be received, the very first time calculated between described first launch time and described first time of reception is poor, and calculates described first range information according to described very first time difference and described first hyperacoustic velocity of propagation;
Obtain and launched for second hyperacoustic second launch time in direction straight down from described unmanned vehicle edge, obtain described second ultrasound wave and touch the second time of reception that described below barrier back reflection returns to be received, calculate the second mistiming between described second launch time and described second time of reception, and calculate described second distance information according to described second mistiming and described second hyperacoustic velocity of propagation;
Obtain and launched for the 3rd hyperacoustic 3rd launch time from described unmanned vehicle along the left of described unmanned vehicle working direction, obtain described 3rd ultrasound wave and touch the 3rd time of reception that described top obstacle back reflection returns to be received, calculate the 3rd mistiming between described 3rd launch time and described 3rd time of reception, and calculate described 3rd range information according to described 3rd mistiming and described 3rd hyperacoustic velocity of propagation;
Obtain and launched for the 4th hyperacoustic 4th launch time from described unmanned vehicle along the right of described unmanned vehicle working direction, obtain described 4th ultrasound wave and touch the 4th time of reception that described top obstacle back reflection returns to be received, calculate the 4th mistiming between described 4th launch time and described 4th time of reception, and calculate described 4th range information according to described 4th mistiming and described 4th hyperacoustic velocity of propagation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510718989.4A CN105259915A (en) | 2015-10-29 | 2015-10-29 | Method for controlling unmanned aerial vehicle |
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| CN201510718989.4A CN105259915A (en) | 2015-10-29 | 2015-10-29 | Method for controlling unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107368084A (en) * | 2016-05-11 | 2017-11-21 | 松下电器（美国）知识产权公司 | Flight control method and unmanned vehicle |
| CN108124472A (en) * | 2017-12-26 | 2018-06-05 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and aircraft of barrier of dodging |
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| JP2006082774A (en) * | 2004-09-17 | 2006-03-30 | Hiroboo Kk | Unmanned flying object and its controlling method |
| CN101433765A (en) * | 2007-11-13 | 2009-05-20 | 银辉玩具制品厂有限公司 | Flight object |
| CN202605732U (en) * | 2012-03-30 | 2012-12-19 | 田瑜 | Model plane |
| CN203291517U (en) * | 2013-05-10 | 2013-11-20 | 田瑜 | Model airplane |
| CN103914075A (en) * | 2013-12-13 | 2014-07-09 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
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2015
- 2015-10-29 CN CN201510718989.4A patent/CN105259915A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006082774A (en) * | 2004-09-17 | 2006-03-30 | Hiroboo Kk | Unmanned flying object and its controlling method |
| CN101433765A (en) * | 2007-11-13 | 2009-05-20 | 银辉玩具制品厂有限公司 | Flight object |
| CN202605732U (en) * | 2012-03-30 | 2012-12-19 | 田瑜 | Model plane |
| CN203291517U (en) * | 2013-05-10 | 2013-11-20 | 田瑜 | Model airplane |
| CN103914075A (en) * | 2013-12-13 | 2014-07-09 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107368084A (en) * | 2016-05-11 | 2017-11-21 | 松下电器（美国）知识产权公司 | Flight control method and unmanned vehicle |
| CN108124472A (en) * | 2017-12-26 | 2018-06-05 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and aircraft of barrier of dodging |
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