CN105607645A - Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal - Google Patents
Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal Download PDFInfo
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Abstract
The embodiments of the invention provide an unmanned aerial vehicle, an unmanned aerial vehicle return method, and a control terminal, and belong to the field of automatic control. The unmanned aerial vehicle return method comprises the following steps: an unmanned aerial vehicle, in a flying process, successively acquiring multiple pieces of position information at a preset frequency on a flight path and a flight height corresponding to each piece of the position information; and after a return instruction sent by a control terminal for controlling the unmanned aerial vehicle is received, the unmanned aerial vehicle, according to the multiple pieces of position information and the flight height corresponding to each piece of the position information, returning on the same route to a position identified by starting point coordinate information along a return route formed by the multiple pieces of position information. The unmanned aerial vehicle return method improves the problem of incapability of successful return due to obstacles met by a conventional unmanned aerial vehicle in an automatic return process.
Description
Technical field
The present invention relates to automation field, in particular to a kind of unmanned plane, unmanned plane make a return voyage method and control terminal.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft that utilizes radio robot to handle. Unmanned plane has the function of automatically making a return voyage conventionally, so that unmanned plane is while flying to position far away, under the operation that there is no operator, original starting point automatically flies back. The existing unmanned plane method of automatically making a return voyage is that unmanned plane directly makes a return voyage along the current position of unmanned plane and the original determined straight line path of homeposition. But, in the current position of unmanned plane and the original determined straight line path of homeposition, may there is the barrier that hinders unmanned plane during flying, cause unmanned plane to make a return voyage smoothly.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane, unmanned plane make a return voyage method and control terminal, in the process of automatically making a return voyage, run into barrier, the problem that cannot make a return voyage smoothly to improve existing unmanned plane.
First aspect, the embodiment of the present invention provides a kind of unmanned plane method of making a return voyage, and is applied to unmanned plane, and the described unmanned plane method of making a return voyage, comprising:
Described unmanned plane, in flight way, gathers successively multiple positional informations with the frequency of presetting on flight path, and flying height corresponding to each described positional information;
Receiving making a return voyage after instruction that control terminal for controlling described unmanned plane sends, described unmanned plane, according to described multiple positional informations and flying height corresponding to each described positional information, is back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies.
Further, described unmanned plane is according to described multiple positional informations and flying height corresponding to each described positional information, returns to the position that the starting point coordinate information of acquisition identifies, and comprising:
Described unmanned plane gathers successively multiple positional information backwards and arranges described, obtains the described multiple positional informations after backward is arranged;
Described unmanned plane is back to along the former road of the route that makes a return voyage being formed by the described multiple positional informations after described backward arrangement the position that starting point coordinate information identifies.
Further, described unmanned plane is back to along the former road of the route that makes a return voyage being formed by the described multiple positional informations after described backward arrangement the position that starting point coordinate information identifies, and comprising:
Described unmanned plane arrives the flying height of the position of each described positional information mark, and the flying height corresponding with the positional information of arrived position is consistent.
Further, the described multiple positional informations after described backward arrangement comprise primary importance information, second place information and the 3rd positional information successively; The position flight that described multiple positional informations after described unmanned plane is arranged along backward successively identify, comprising:
The position that described second place information identifies is flown in the position that described unmanned plane identifies from described primary importance information, then the position that described the 3rd positional information identifies is flown in the position identifying from described second place information.
Further, the position flight that the positional information after described unmanned plane is arranged along described backward successively identifies, returns to the position that the starting point coordinate information of acquisition identifies, and also comprises:
Flying height when position that described unmanned plane during flying identifies to described second place information is the flying height corresponding with described second place information;
Flying height when position that described unmanned plane during flying identifies to described the 3rd positional information is the flying height corresponding with described the 3rd positional information.
Further, described unmanned plane side boat method, also comprises:
In the position flight course that described multiple positional informations after described unmanned plane is arranged along backward successively identify, while flying the position identifying to each described positional information, send and arrive feedback information to associated in advance control terminal, described arrival feedback information carries the positional information of reached position
Second aspect, the embodiment of the present invention provides a kind of unmanned plane, comprises controller, positioner, radio communication device and memory;
Described positioner on flight way, gathers successively multiple positional informations with the frequency of presetting on flight path, and flying height corresponding to each described positional information;
Described memory, for storing successively the multiple positional informations of described collection, and flying height corresponding to each described positional information;
Described controller, for making a return voyage after control instruction receiving, control described unmanned plane according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies.
The third aspect, the embodiment of the present invention provides a kind of control terminal, and described control terminal comprises controller, radio communication device, positioner and memory, and described radio communication device, positioner and memory are electrically connected with described controller respectively;
Described communicator, at unmanned plane during flying on the way, the frequency to preset that receives described unmanned plane transmission gathers successively multiple positional informations on flight path, and flying height corresponding to each described positional information;
Described memory, for storing described multiple positional information, and flying height corresponding to each described positional information;
Described controller, for sending to unmanned plane the control instruction of making a return voyage by described communicator, the described control instruction of making a return voyage carries described multiple positional information, and flying height corresponding to each described positional information, so that described unmanned plane is according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies
The unmanned plane that the embodiment of the present invention provides, unmanned plane make a return voyage method and control terminal, described unmanned plane is in flight way, in flight path, gather successively the mode of flying height corresponding to multiple positional informations and each described positional information, make the described unmanned plane can be according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies, being beneficial to unmanned plane can return along original route in automatically making a return voyage on the way, be beneficial to avoid the barrier of impact flight, improve existing unmanned plane and run into barrier in the process of automatically making a return voyage, the problem that cannot make a return voyage smoothly.
Other features and advantages of the present invention are set forth the description subsequently, and, partly from description, become apparent, or understand by implementing the embodiment of the present invention. Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in write description, claims and accompanying drawing.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing. Shown in accompanying drawing, above-mentioned and other object of the present invention, Characteristics and advantages will be more clear. In whole accompanying drawings, identical Reference numeral is indicated identical part. Deliberately do not draw accompanying drawing by actual size equal proportion convergent-divergent, focus on illustrating purport of the present invention.
The structured flowchart of the unmanned plane that Fig. 1 provides for first embodiment of the invention;
The structured flowchart of the control terminal that Fig. 2 provides for second embodiment of the invention;
The make a return voyage flow chart of method of the unmanned plane that Fig. 3 provides for third embodiment of the invention;
The unmanned plane that Fig. 4 provides for the third embodiment of the invention one of the unmanned plane path schematic diagram that makes a return voyage that makes a return voyage in method;
The unmanned plane that Fig. 5 provides for the third embodiment of the invention another kind of the unmanned plane path schematic diagram that makes a return voyage that makes a return voyage in method.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out to clear, complete description, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Reclaim unmanned plane for the ease of operator, unmanned plane is provided with the function of automatically making a return voyage conventionally. But unmanned plane makes a return voyage in process automatically existing, directly make a return voyage along the current position of unmanned plane and the original determined straight line path of homeposition, in this straight line path, may there is the barrier that disturbs unmanned plane to make a return voyage, cause unmanned plane to make a return voyage smoothly. In order to improve the problems referred to above, inventor has proposed a kind of unmanned plane, unmanned plane make a return voyage method and control terminal.
Refer to Fig. 1, a kind of unmanned plane that first embodiment of the invention provides, comprises controller 201, radio communication device 202, positioner 203 and memory 204;
Described positioner 203 on flight way, gathers successively multiple positional informations with the frequency of presetting on flight path, and flying height corresponding to each described positional information. Positioner can comprise one or more in GPS (GlobalPositioningSystem, global positioning system), Big Dipper navigator.
Described memory 204, for storing successively the multiple positional informations of described collection, and flying height corresponding to each described positional information;
Described controller 201, for making a return voyage after control instruction receiving, control described unmanned plane according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies.
The unmanned plane that first embodiment of the invention provides, in flight path, gather successively the mode of flying height corresponding to multiple positional informations and each described positional information by positioner, make the described unmanned plane can be according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies, being beneficial to unmanned plane can return along original route in automatically making a return voyage on the way, be beneficial to avoid the barrier of impact flight, improve existing unmanned plane and run into barrier in the process of automatically making a return voyage, the problem that cannot make a return voyage smoothly.
Refer to Fig. 2, a kind of control terminal that second embodiment of the invention provides, described control terminal comprises controller 301, radio communication device 302, positioner 303 and memory 304, and described radio communication device 302, positioner 303 and memory 304 are electrically connected with described controller 301 respectively.
Positioner 301 can comprise one or more in GPS (GlobalPositioningSystem, global positioning system), Big Dipper navigator.
Described radio communication communicator 302, at unmanned plane during flying on the way, the frequency to preset that receives described unmanned plane transmission gathers successively multiple positional informations on flight path, and flying height corresponding to each described positional information.
Described memory 304, for storing described multiple positional information, and flying height corresponding to each described positional information.
Described controller 301, for sending to unmanned plane the control instruction of making a return voyage by described communicator, the described control instruction of making a return voyage carries described multiple positional information, and flying height corresponding to each described positional information, so that described unmanned plane, according to described multiple positional informations and flying height corresponding to each described positional information, is back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies.
It should be noted that, the control terminal that the present embodiment provides can, for the control terminal of existing unmanned plane, can be also the intelligent terminals such as mobile phone, panel computer and computer.
The control terminal that second embodiment of the invention provides, by the positional information of unmanned plane collection and flying height being added to the mode of the control instruction of making a return voyage, make the described unmanned plane can be according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies, being beneficial to unmanned plane can return along original route in automatically making a return voyage on the way, be beneficial to avoid the barrier of impact flight, improve existing unmanned plane and run into barrier in the process of automatically making a return voyage, the problem that cannot make a return voyage smoothly.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the operation principle of the device in control terminal and the unmanned plane of foregoing description, can be with reference to the corresponding process in aftermentioned embodiment of the method.
Refer to Fig. 3, a kind of unmanned plane that third embodiment of the invention provides method of making a return voyage, be applied to unmanned plane, as a kind of embodiment, this unmanned plane comprises controller, radio communication device and positioner, the control instruction that radio communication device sends for receiving control terminal, or to control terminal feedback states information. Controller can be for according to control instruction control unmanned plane during flying. Positioner is for gathering the positional information of unmanned plane.
The described unmanned plane method of making a return voyage, comprising:
Step S101: described unmanned plane, in flight way, gathers successively multiple positional informations with the frequency of presetting on flight path, and flying height corresponding to each described positional information.
Unmanned plane is in the process of flight, and positioner collection, after the positional information of position, can make unmanned plane set up flight path, so that unmanned plane can turn back to starting point according to the positional information gathering. In the gatherer process of positional information, the frequency acquisition of positioner can determine according to the flight environment of vehicle of unmanned plane. For example, as a kind of embodiment, in the time that the barrier of unmanned plane during flying environment is more, higher positional information frequency acquisition can be set, for example, within every 1 to 3 second, gather once. Comparatively spacious when the flight environment of vehicle of unmanned plane, when barrier is less, lower positional information frequency acquisition can be set, for example within every 4 to 6 seconds, gather once.
When unmanned plane is in flight course, manipulator not only will control the barrier that unmanned plane is evaded horizontal direction, also will evade the barrier of gravity direction. For unmanned plane can make a return voyage smoothly automatically, positioner, in the time of collection position information, also needs to gather flying height corresponding to each positional information.
Step S102: receiving making a return voyage after instruction that control terminal for controlling described unmanned plane sends, described unmanned plane, according to described multiple positional informations and flying height corresponding to each described positional information, is back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies.
Unmanned plane is the above-mentioned positional information gathering successively along flight approach, for unmanned plane can be maked a return voyage according to the former road of above-mentioned positional information, as preferably embodiment of one, described controller gathers successively multiple positional information backwards and arranges described, obtain the described multiple positional informations after backward is arranged, positional information after arranging according to backward again forms the route that makes a return voyage, so that unmanned plane is back to along the former road of the route that makes a return voyage being formed by the described multiple positional informations after described backward arrangement the position that starting point coordinate information identifies.
For example, as shown in Figure 4, after the positional information backward that controller gathers positioner is arranged, the positional information that backward is arranged comprises primary importance information, second place information and the 3rd positional information successively. The position of primary importance message identification is A point, and the position of second place message identification is B point, and the position of the 3rd positional information mark is C point. When unmanned plane is received and maked a return voyage after instruction by radio communication device, if A point is the current location information of unmanned plane, the positional information that C point is starting point. The method of making a return voyage providing according to the present embodiment, unmanned plane, making a return voyage in way, as shown in solid-line paths in Fig. 4, first flies to B point from A point, then flies to described C point from B point.
As shown in Figure 5, when primary importance information is not the current location information of unmanned plane, in Fig. 5, P point is unmanned plane current location, the starting point that S point is unmanned plane. Unmanned plane is received and is maked a return voyage after control instruction by radio communication device, need to first fly the position indicating to primary importance information. In the time that the 3rd positional information is not the starting point positional information of unmanned plane, unmanned plane need to fly to the position that the 3rd positional information indicates, then flies to starting point.
In the process of making a return voyage at unmanned plane, in order further to avoid unmanned plane to clash into barrier, preferred as one, described unmanned plane arrives the flying height of the position of each described positional information mark, and the flying height corresponding with the positional information of arrived position is consistent.
For example, make a return voyage in process at above-mentioned unmanned plane, flying height when position that described unmanned plane during flying identifies to described second place information is the flying height corresponding with described second place information; Flying height when position that described unmanned plane during flying identifies to described the 3rd positional information is the flying height corresponding with described the 3rd positional information.
It should be noted that, unmanned plane arrives the flying height of the position that each positional information identifies making a return voyage in way, can also change according to actual conditions. For example, when arrive certain positional information identify position time flying height, can be higher or lower than the flying height corresponding with this positional information.
Automatically making a return voyage in process of unmanned plane, judge for the ease of manipulator whether unmanned plane is returning along Yuan Lu, as preferably embodiment of one, when unmanned plane during flying identifies to each described positional information the position, send and arrive feedback information to control terminal by radio communication device, described arrival feedback information carries the positional information of reached position, thereby makes controlling the flight path that can monitor unmanned plane.
It should be noted that, as preferably embodiment of one, described unmanned plane can also arrange memory, is beneficial to directly store the positional information of collection and flying height into memory. Certainly, also the positional information of collection and flying height can be transferred to control terminal stores.
The unmanned plane that third embodiment of the invention the provides method of making a return voyage, by described unmanned plane in flight way, in flight path, gather successively the mode of flying height corresponding to multiple positional informations and each described positional information, make the described unmanned plane can be according to described multiple positional informations and flying height corresponding to each described positional information, be back to along the former road of the route that makes a return voyage being formed by described multiple positional informations the position that starting point coordinate information identifies, being beneficial to unmanned plane can return along original route in automatically making a return voyage on the way, be beneficial to avoid the barrier of impact flight, improve existing unmanned plane and run into barrier in the process of automatically making a return voyage, the problem that cannot make a return voyage smoothly.
In the several embodiment that provide in the application, should be understood that disclosed system, apparatus and method can realize by another way. Device embodiment described above is only schematic, for example, the division of described unit, be only that a kind of logic function is divided, when actual realization, can have other dividing mode, again for example, multiple unit or assembly can in conjunction with or can be integrated into another system, or some features can ignore, or do not carry out. Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some communication interfaces, INDIRECT COUPLING or the communication connection of device or unit can be electrically, machinery or other form.
The described unit as separating component explanation can or can not be also physically to separate, and the parts that show as unit can be or can not be also physical locations, can be positioned at a place, or also can be distributed on multiple NEs. Can select according to the actual needs some or all of unit wherein to realize the object of the present embodiment scheme.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing unit, can be also that the independent physics of unit exists, and also can be integrated in a unit two or more unit.
It should be noted that, in this article, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially. And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment. The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention. Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. the unmanned plane method of making a return voyage, is characterized in that, is applied to unmanned plane, described nothingThe man-machine method of making a return voyage, comprising:
Described unmanned plane, in flight way, gathers on flight path successively with the frequency of presettingMultiple positional informations, and flying height corresponding to each described positional information;
Receiving making a return voyage after instruction that control terminal for controlling described unmanned plane sends,Described unmanned plane is according to described multiple positional informations and corresponding the flying of each described positional informationLine height, is back to starting point along the former road of the route that makes a return voyage being formed by described multiple positional informationsThe position that coordinate information identifies.
2. the unmanned plane according to claim 1 method of making a return voyage, is characterized in that, described inUnmanned plane is high according to described multiple positional informations and flight corresponding to each described positional informationDegree, returns to the position that the starting point coordinate information of acquisition identifies, and comprising:
Described unmanned plane gathers successively multiple positional information backwards and arranges described, obtains backwardDescribed multiple positional informations after arrangement;
Described unmanned plane is along returning of being formed by the described multiple positional informations after described backward arrangementXian Yuan road, air route is back to the position that starting point coordinate information identifies.
3. the unmanned plane according to claim 2 method of making a return voyage, is characterized in that, described inUnmanned plane is former along the route that makes a return voyage being formed by the described multiple positional informations after described backward arrangementRoad is back to the position that starting point coordinate information identifies, and comprising:
Described unmanned plane arrives the flying height of the position of each described positional information mark, withFlying height corresponding to the positional information of the position arriving is consistent.
4. the unmanned plane according to claim 3 method of making a return voyage, is characterized in that, described inDescribed multiple positional informations after backward is arranged comprise primary importance information, the second place successivelyInformation and the 3rd positional information; Described unmanned plane successively along backward arrange after described manyThe position flight that individual positional information identifies, comprising:
Described second is flown in the position that described unmanned plane identifies from described primary importance informationThe position that the information of putting identifies, then institute is flown in the position identifying from described second place informationState the position that the 3rd positional information identifies.
5. the unmanned plane according to claim 4 method of making a return voyage, is characterized in that, described inThe position flight that positional information after unmanned plane is arranged along described backward successively identifies, returnsGo back to the position that identifies of starting point coordinate information obtaining, also comprise:
Flight when position that described unmanned plane during flying identifies to described second place information is highDegree is the flying height corresponding with described second place information;
Flight when position that described unmanned plane during flying identifies to described the 3rd positional information is highDegree is the flying height corresponding with described the 3rd positional information.
6. according to the arbitrary described unmanned plane of the right 3-5 method of making a return voyage, it is characterized in that instituteState unmanned plane side's boat method, also comprise:
Described multiple positional informations after described unmanned plane is arranged along backward successively identifyIn the flight course of position,, in advance when flight identifies to each described positional information the positionFirst associated control terminal sends and arrives feedback information, and described arrival feedback information carries to some extentThe positional information of in-position.
7. a unmanned plane, is characterized in that, comprises controller, positioner, channel radioT unit and memory;
Described positioner, on flight way, with the frequency preset on flight pathGather successively multiple positional informations, and flying height corresponding to each described positional information;
Described memory, for storing successively the multiple positional informations of described collection, and eachThe flying height that described positional information is corresponding;
Described controller, for making a return voyage after control instruction receiving, controls described unmanned planeAccording to described multiple positional informations and flying height corresponding to each described positional information, edgeThe former road of the route that makes a return voyage being formed by described multiple positional informations is back to starting point coordinate information instituteThe position of mark.
8. unmanned plane according to claim 7, is characterized in that, described positionerFor GPS.
9. a control terminal, is characterized in that, described control terminal comprises controller, nothingLine communicator, positioner and memory, described radio communication device, positionerAnd memory is electrically connected with described controller respectively;
Described communicator, on unmanned plane during flying way, receives described unmanned plane and sendsThe frequency to preset on flight path, gather successively multiple positional informations, and each instituteState flying height corresponding to positional information;
Described memory, for storing described multiple positional information, and each described positionThe flying height that information is corresponding;
Described controller, refers to for sending to make a return voyage to control to unmanned plane by described communicatorOrder, described in the control instruction of making a return voyage carry described multiple positional information, and each institute rhemeThe flying height that the information of putting is corresponding so that described unmanned plane according to described multiple positional informations withAnd flying height corresponding to each described positional information, along being formed by described multiple positional informationsThe former road of the route that makes a return voyage be back to the position that starting point coordinate information identifies.
10. control terminal according to claim 9, is characterized in that, described location dressBe set to GPS.
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