CN107047366B - A kind of control method and its unmanned plane of automatic intelligent traction unmanned plane - Google Patents
A kind of control method and its unmanned plane of automatic intelligent traction unmanned plane Download PDFInfo
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- CN107047366B CN107047366B CN201710295313.8A CN201710295313A CN107047366B CN 107047366 B CN107047366 B CN 107047366B CN 201710295313 A CN201710295313 A CN 201710295313A CN 107047366 B CN107047366 B CN 107047366B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 21
- 238000004458 analytical method Methods 0.000 claims description 13
- 230000029142 excretion Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 4
- 238000010191 image analysis Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 206010037180 Psychiatric symptoms Diseases 0.000 description 1
- 241001425718 Vagrans egista Species 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K27/00—Leads or collars, e.g. for dogs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Remote Sensing (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of control methods of automatic intelligent traction unmanned plane, which comprises in the lock being fixed on back belt type pet leash on unmanned plane, unmanned plane starts starting operation；When unmanned plane carries out pre-set velocity walking according to pre-set route, pet image is absorbed using camera and whether pet is analyzed according to the walking of pre-set route according to it；It is corrected using traction rope control pet to pre-set route if the unmanned plane not and if absorbs around surrounding Image detection whether have motor-driven vehicle going using camera；If there is motor vehicle to fly with pet according to the first pre-set velocity upwards using traction rope and absorb the driving direction and travel speed of motor vehicle Image detection motor vehicle；It whether is more than time that unmanned plane flies upwards with pet if detecting that motor vehicle analyzes motor vehicle to itself close running time to itself direction if close；Unmanned plane is controlled if being less than to fly upwards with pet according to the second pre-set velocity using traction rope.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of the control method and its nothing of automatic intelligent traction unmanned plane
It is man-machine.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft that presetting apparatus 22 manipulates.From technical standpoint definition can be divided into: unmanned fixed-wing aircraft, nobody vertically
Drop machine, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+industrial application is that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system
The application in romance etc. field is made, the purposes of unmanned plane itself has greatly been expanded, developed country also answers in actively extension industry
With with develop unmanned air vehicle technique.
Nowadays with the quickening pace of modern life, the increasing of pressure, people feed in order to eliminate loneliness or for purpose is entertained
Animal is supported as pet, so, user is due to needing work companion pet or not too many time-bands not to dote on for a long time
Object is gone out for a stroll.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides a kind of automatic intelligents to lead
The control method and its unmanned plane for drawing unmanned plane, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: a kind of control method of automatic intelligent traction unmanned plane for drawing pet, including ontology, is taken the photograph
As head, processing unit and lock, which comprises
In the lock being fixed on back belt type pet leash on traction unmanned plane, the traction unmanned plane starts to start
Operation；
When the traction unmanned plane carries out pre-set velocity walking according to pre-set route, using being mounted on described lead
Draw the camera intake pet image on unmanned plane and according to the pet image analysing computer pet whether according to pre-set road
Line walking；
Pet is controlled to pre-set route using back belt type pet leash if the traction unmanned plane described not if
It corrects and absorbs around surrounding Image detection whether have motor-driven vehicle going using camera；
The traction unmanned plane is default fast according to first with pet using back belt type pet leash if having motor vehicle
Degree flies and absorbs upwards the driving direction and travel speed of motor vehicle Image detection motor vehicle；
If detect motor vehicle to itself direction it is close if analyze motor vehicle to itself close running time whether be more than
The time that the traction unmanned plane flies upwards with pet；
It is default according to second with pet using back belt type pet leash that the traction unmanned plane is controlled if being less than
Speed is flown upwards.
As a kind of preferred embodiment of the invention, default speed is carried out according to pre-set route in the traction unmanned plane
When degree walking, the method also includes:
Utilize the pulling force for the pulling force inductor detection back belt type pet leash being mounted on the traction unmanned plane lock
Whether disappear；
Pet real-time imaging is absorbed using camera if disappearing and detects whether pet is draining；
According to whether having other pets in pre-determined distance around pet Real-time image analysis pet if not draining；
The alarm song of default decibel is issued using the loudspeaker being mounted on the traction unmanned plane if there are other pets
To be driven to it.
As a kind of preferred embodiment of the invention, pet real-time imaging is absorbed using camera and detects whether pet is arranging
When letting out, the method also includes:
If detecting pet if excretion and controlling, the traction unmanned plane hovers over right above pet and passes through the pulling force
The pulling force of inductor detection back belt type pet leash whether there is；
Then the traction unmanned plane continues with back belt type pet traction wire saws pet according to pre-set if it exists
Route carries out pre-set velocity walking.
As a kind of preferred embodiment of the invention, default speed is carried out according to pre-set route in the traction unmanned plane
When degree walking, the method also includes:
Utilize the walking of external equipment and the connection control traction unmanned plane of the control device of the traction unmanned plane
Direction and the speed of travel；
Utilize the walking of external equipment and the connection control traction unmanned plane of the navigation device of the traction unmanned plane
Route.
As a kind of preferred embodiment of the invention, default speed is carried out according to pre-set route in the traction unmanned plane
When degree walking, the method also includes:
The wireless device of the traction unmanned plane is connected using external equipment and by the camera of the traction unmanned plane
Observe the real-time condition of pet；
The positioning device of the traction unmanned plane is connected using external equipment and inquires the traction unmanned plane current location
Location information.
A kind of automatic intelligent draws unmanned plane, the traction unmanned plane include ontology, several cameras, processing unit with
And lock, several cameras are located on ontology, for absorbing image；The processing unit is located in the traction unmanned plane
Portion, the lock are located at traction unmanned plane lower section middle position, for fixing back belt type pet leash, on the lock
Equipped with pulling force inductor, for incuding the pulling force of back belt type pet leash；
The processing unit includes:
Inductor, for incuding whether back belt type pet leash is fixed on lock；
Navigation device, for setting the route of the unmanned machine travel pet of traction；
Control device, for controlling the traction unmanned plane direction and walking according to pre-set velocity；
First analysis module, for whether analyzing pet according to the walking of pre-set route；
Rectification module, for controlling the traction unmanned plane correction pet track route；
First Speed module, for control the traction unmanned plane using back belt type pet leash with pet according to the
One pre-set velocity is flown upwards；
Computing module, driving direction and travel speed for passing through motor vehicle calculate motor vehicle to itself close row
Sail the time；
Whether the second analysis module is more than the traction unmanned plane for analyzing motor vehicle to itself close running time
The time flown upwards with pet；
Second speed module, for control the traction unmanned plane using back belt type pet leash with pet according to the
Two pre-set velocities are flown upwards.
As a kind of preferred embodiment of the invention, the processing unit further include:
Third analysis module, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module has other pets for analyzing in pre-determined distance around pet；
The ontology further include:
Loudspeaker is set to ontology middle position, for issuing the alarm song of default decibel.
As a kind of preferred embodiment of the invention in the processing unit further include:
Hovering module, hovers over pet position directly above for controlling the traction unmanned plane.
As a kind of preferred embodiment of the invention, the processing unit further include:
Wireless device, for being attached with external equipment.
Positioning device, for positioning the traction unmanned plane current location and storing current location information.
The present invention realizes following the utility model has the advantages that in the lock being fixed on back belt type pet leash on traction unmanned plane
When, the traction unmanned plane starts starting operation, carries out pre-set velocity according to pre-set route in the traction unmanned plane
When walking, doted on using the camera intake pet image being mounted on the traction unmanned plane and according to the pet image analysing computer
Whether object walks according to pre-set route, is controlled if the traction unmanned plane described not if using back belt type pet leash
Pet corrects to pre-set route and using whether having motor-driven vehicle going around camera intake surrounding Image detection, if having
Then the traction unmanned plane is flown simultaneously with pet according to the first pre-set velocity motor vehicle upwards using back belt type pet leash
Absorb motor vehicle Image detection motor vehicle driving direction and travel speed, if detect motor vehicle to itself direction it is close if
Whether analysis motor vehicle is more than the time drawing unmanned plane and flying upwards with pet to itself close running time, if
It is less than, controls the traction unmanned plane and flown upwards with pet according to the second pre-set velocity using back belt type pet leash
Row；Pet runs chaotically when traction unmanned plane can effectively be avoided to take a walk with pet, and can be when detecting automobile with pet
Flight is hidden upwards.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is the schematic diagram that the automatic intelligent that the one of example of the present invention provides draws unmanned plane；
Fig. 2 is the flow chart for the control method that the automatic intelligent that the one of example of the present invention provides draws unmanned plane；
Fig. 3 is the flow chart that the induction pet that the one of example of the present invention provides stops；
Fig. 4 is the flow chart for the traction unmanned plane hovering that the one of example of the present invention provides；
Fig. 5 is the flow chart for the change traction unmanned plane setting that the one of example of the present invention provides；
Fig. 6 is the flow chart for the user query pet situation that the one of example of the present invention provides；
Fig. 7 is the architecture diagram that the automatic intelligent that the one of example of the present invention provides draws unmanned plane.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
With reference to Fig. 1-2, shown in Fig. 7, Fig. 1 is that the automatic intelligent that the one of example of the present invention provides draws unmanned plane
Schematic diagram；Fig. 2 is the flow chart for the control method that the automatic intelligent that the one of example of the present invention provides draws unmanned plane；
Fig. 7 is the architecture diagram that the automatic intelligent that the one of example of the present invention provides draws unmanned plane.
Specifically, for drawing pet, being wrapped the present embodiment provides a kind of control method of automatic intelligent traction unmanned plane
Include ontology 1, camera 11, processing unit 2 and lock 3, which comprises
S1, back belt type pet leash is fixed on traction unmanned plane on lock 3 when, the traction unmanned plane starts
Starting operation；
S2, the traction unmanned plane according to pre-set route carry out pre-set velocity walking when, using being mounted on
It states the camera 11 on traction unmanned plane and absorbs pet image and according to the pet image analysing computer pet whether according to setting in advance
The route walking set；
S3, pet is controlled to pre-set road using back belt type pet leash if the traction unmanned plane described not if
Line correction simultaneously absorbs around surrounding Image detection whether have motor-driven vehicle going using camera 11；
S4, the traction unmanned plane is default according to first with pet using back belt type pet leash if having motor vehicle
Speed flies upwards and absorbs the driving direction and travel speed of motor vehicle Image detection motor vehicle；
S5, if detect motor vehicle to itself direction it is close if analyze motor vehicle and whether surpass to itself close running time
Spend the time that the traction unmanned plane flies upwards with pet；
S6, that the traction unmanned plane is controlled if being less than is pre- according to second with pet using back belt type pet leash
If speed is flown upwards.
Wherein, the pre-set route refers to the park spread around in 0-10 kilometers centered on user dwelling
Route map, preferably 2 kilometers in the present embodiment；The pre-set velocity is 0-40KM/ hours, is preferably in the present embodiment
5km/ is per hour；Whether whether the pet walks according to pre-set route refers to pet according to the park pre-set
The route of route map is walked, either with or without running chaotically；It is described to be corrected to pre-set route to draw unmanned machine travel pet
It returns in pre-set park route map；The images of environment surrounding is that several cameras 11 of the traction unmanned plane absorb
Image in 360 ° 0-5 kilometers of range, preferably 1 kilometer in the present embodiment；First pre-set velocity is 0-30 meter per second,
It is in the present embodiment preferably 3 meter per seconds；It is described to itself close running time be when advance vehicle running speed to itself
Time required for position, if automobile driving speed be 40km/ hours, apart from itself 50 meters, then it is close when driving to itself
Between for apart from itself distance/travel speed=4.5 second；Second pre-set velocity is 0-50 meter per second, in the present embodiment preferably
For 10 meter per seconds.
Specifically, back belt type pet leash is fixed on the lock 3 of traction unmanned plane, the traction unmanned plane induction
Start after to traction rope starting operation, the traction unmanned plane at runtime according to the route of pre-set park route map into
It walks within row 5km/ hours, while absorbing the image of pet and according to taking the photograph using the camera 11 being mounted on the traction unmanned plane
Whether the pet image analysing computer pet taken walks according to the route of pre-set park route map, if pet not according to
Then the traction unmanned plane draws wire saws pet using back belt type and returns to pre-set park route map for route walking
In and using the camera 11 absorb itself 1 kilometer of 360 ° of range in image, then detected whether motor-driven vehicle going, if
Detect motor-driven vehicle going then it is described traction robot using back belt type rop for pet with pet according to 3 meter per seconds speed to
The driving direction and travel speed of motor vehicle Image detection motor vehicle are hidden and absorbed to upper fly, if detecting motor vehicle to certainly
Whether body is more than that the traction unmanned plane flies with pet upwards close to motor vehicle is then analyzed to itself close running time
Time, such as detect automobile driving speed be 40km/ seconds, apart from itself 10 meters, then be to itself close running time
Apart from itself distance/travel speed=0.9 second, it is less than the time that the traction unmanned plane flies upwards with pet, then is controlled
The traction unmanned plane is flown according to 10 meter per second speed with pet to carry out hiding machine upwards using back belt type pet leash
Motor-car.
Embodiment two
With reference to Fig. 1, Fig. 3, shown in Fig. 7, Fig. 3 is the process that the induction pet that the one of example of the present invention provides stops
Figure.
Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, leads described
When drawing unmanned plane according to the progress pre-set velocity walking of pre-set route, the method also includes:
S11, back belt type pet leash is detected using the pulling force inductor 30 being mounted on the traction unmanned plane lock 3
Pulling force whether disappear；
S12, pet real-time imaging is absorbed using camera 11 if disappearing and detects whether pet is draining；
S13, if not draining according to whether having other pets in pre-determined distance around pet Real-time image analysis pet；
S14, the police for issuing default decibel using the loudspeaker being mounted on the traction unmanned plane if having other pets
Report sound is to drive it.
Wherein, the pre-determined distance is to spread 0-500 meters of ranges around centered on itself, in the present embodiment preferably
It is 10 meters；The default decibel is 0-100 decibels, in the present embodiment preferably 60 decibels.
Specifically, when the traction unmanned plane carries out traction pet according to the route of pre-set park route map,
Whether disappeared using the pulling force for the tension sensor detection pet leash being mounted on the traction unmanned plane lock 3, if
It disappears and then absorbs the real-time image of pet using camera 11 and analyze whether pet is being drained, basis is doted on if not draining
Whether there are other pets or vagrant animal around object Real-time image analysis pet, if having using on the installation traction unmanned plane
Loudspeaker issue 60 decibels of alarm song it driven, avoid other animal injuries to itself pet.
Embodiment three
With reference to Fig. 1, Fig. 4, shown in Fig. 7, Fig. 4 is the process for the traction unmanned plane hovering that the one of example of the present invention provides
Figure.
Specifically, the present embodiment and embodiment two are substantially consistent, difference place is, in the present embodiment, utilizes camera shooting
First 11 intake pet real-time imaging simultaneously detects pet whether in excretion, the method also includes:
S20, the traction unmanned plane is controlled if detecting pet in excretion hover over right above pet and described in passing through
The pulling force that pulling force inductor 30 detects back belt type pet leash whether there is；
S21, then the traction unmanned plane continues with back belt type pet traction wire saws pet according to setting in advance if it exists
The route set carries out pre-set velocity walking.
Specifically, absorbing pet implementation image using camera 11 and detecting pet whether in excretion, if detecting
Pet then controls the traction unmanned plane in excretion and hovers over the positive overhead of pet and in real time by the induction back of pulling force inductor 30
The pulling force of belt pet leash whether there is, and then illustrate that pet excretion is completed if it exists, the traction unmanned plane continues with
Back belt type pet traction wire saws pet walk within 5km/ hours according to the route of pre-set park route map, avoids doting on
Object unmanned plane image pet in excretion drains.
Example IV
With reference to Fig. 1, Fig. 5, shown in Fig. 7, Fig. 5 is the change traction unmanned plane setting that the one of example of the present invention provides
Flow chart.
Specifically, the present embodiment and embodiment two are substantially consistent, difference place is, in the present embodiment, leads described
When drawing unmanned plane according to the progress pre-set velocity walking of pre-set route, the method also includes:
S15, the traction unmanned plane is controlled using the connection of external equipment and the control device 22 of the traction unmanned plane
Direction of travel and the speed of travel；
S16, the traction unmanned plane is controlled using the connection of external equipment and the navigation device 21 of the traction unmanned plane
Track route.
Specifically, user can pass through wireless device 33 and the traction unmanned aerial vehicle (UAV) control device 22 using external equipment
It connects to control the traction robot direction of travel and the speed of travel, and user can also pass through nothing using external equipment
Line apparatus 33 changes the track route of the traction robot with the connection for drawing Navigation of Pilotless Aircraft device 21.
Embodiment five
With reference to Fig. 1, shown in Fig. 6-7, Fig. 6 is the process for the user query pet situation that the one of example of the present invention provides
Figure.
Specifically, the present embodiment and embodiment two are substantially consistent, difference place is, in the present embodiment, leads described
When drawing unmanned plane according to the progress pre-set velocity walking of pre-set route, the method also includes:
S17, the wireless device 33 of the traction unmanned plane is connected using external equipment and by the traction unmanned plane
The real-time condition of the observation pet of camera 11；
S18, the positioning device 34 of the traction unmanned plane is connected using external equipment and inquires the traction unmanned plane and is worked as
The location information of front position.
Specifically, when user needs to observe the current situation of pet the traction nothing can be connected using external equipment
Then man-machine wireless device 33 observes the present case of pet by the camera 11 of the traction unmanned plane；When user needs
It is to be understood that can use external equipment when drawing the current position of unmanned machine travel pet by wireless device 33 and connect described lead
Draw the positioning device 34 in unmanned plane to inquire the location information of the traction unmanned plane current location, lets the user know that dote in time
Object current location.
Embodiment six
With reference to Fig. 1, shown in Fig. 7.
Specifically, the present embodiment provides a kind of automatic intelligent draw unmanned plane, the traction unmanned plane include ontology 1,
Several cameras 11, processing unit 2 and lock 3, several cameras 11 are located on ontology 1, for absorbing image；It is described
Processing unit 2 is located inside the traction unmanned plane, and the lock 3 is located at middle position below the traction unmanned plane, is used for
Fixed back belt type pet leash, the lock 3 is equipped with pulling force inductor 30, for incuding the drawing of back belt type pet leash
Power,
The processing unit 2 includes:
Inductor 20, for incuding whether back belt type pet leash is fixed on lock 3；
Navigation device 21, for setting the route of the unmanned machine travel pet of traction；
Control device 22, for controlling the traction unmanned plane direction and walking according to pre-set velocity；
First analysis module 23, for whether analyzing pet according to the walking of pre-set route；
Rectification module 24, for controlling the traction unmanned plane correction pet track route；
First Speed module 25, for control the traction unmanned plane using back belt type pet leash with pet according to
First pre-set velocity is flown upwards；
Computing module 26, it is close to itself that driving direction and travel speed for passing through motor vehicle calculate motor vehicle
Running time；
Whether the second analysis module 27 is more than described to draw nobody for analyzing motor vehicle to itself close running time
The time that machine flies upwards with pet；
Second speed module 28, for control the traction unmanned plane using back belt type pet leash with pet according to
Second pre-set velocity is flown upwards.
As a kind of preferred embodiment of the invention, the processing unit 2 further include:
Third analysis module 29, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module 31 has other pets for analyzing in pre-determined distance around pet；
The ontology 1 further include:
Loudspeaker 12 is set to 1 middle position of ontology, for issuing the alarm song of default decibel.
As a kind of preferred embodiment of the invention, the processing unit 2 further include:
Hovering module 32, hovers over pet position directly above for controlling the traction unmanned plane.
As a kind of preferred embodiment of the invention, the processing unit 2 further include:
Wireless device 33, for being attached with external equipment.
Positioning device 34, for positioning the traction unmanned plane current location and storing current location information.
It should be understood that the specific implementation process of above-mentioned modules (can be implemented with above method embodiment in embodiment six
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
Unmanned plane provided by above-described embodiment six, it is only the example of the division of the above functional modules, practical
In, it can according to need and be completed by different functional modules appeal function distribution, i.e., by the internal structure of unmanned plane
It is divided into different functional modules, to complete all or part of the functions described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of control method of automatic intelligent traction unmanned plane, for drawing pet, including ontology, camera, processing dress
It sets and latches, which is characterized in that the described method includes:
In the lock being fixed on back belt type pet leash on traction unmanned plane, the traction unmanned plane starts starting fortune
Row；
When the traction unmanned plane carries out pre-set velocity walking according to pre-set route, using being mounted on the traction nothing
Camera on man-machine absorbs pet image and according to the pet image analysing computer pet whether according to pre-set route row
It walks；
It is corrected using back belt type pet leash control pet to pre-set route if the traction unmanned plane described not if
And absorb around surrounding Image detection whether have motor-driven vehicle going using camera；
If having motor vehicle the traction unmanned plane using back belt type pet leash with pet according to the first pre-set velocity to
Upper flight and the driving direction and travel speed for absorbing motor vehicle Image detection motor vehicle；
If detect motor vehicle to itself direction it is close if whether analyze motor vehicle to itself close running time be more than described
The time that traction unmanned plane flies upwards with pet；
The traction unmanned plane is controlled if being less than utilizes back belt type pet leash with pet according to the second pre-set velocity
Flight upwards；
When the traction unmanned plane carries out pre-set velocity walking according to pre-set route, the method also includes:
Using be mounted on it is described traction unmanned plane lock on pulling force inductor detection back belt type pet leash pulling force whether
It disappears；
Pet real-time imaging is absorbed using camera if disappearing and detects whether pet is draining；
According to whether having other pets in pre-determined distance around pet Real-time image analysis pet if not draining；
The alarm song of default decibel is issued with right using the loudspeaker being mounted on the traction unmanned plane if there are other pets
Other pets are driven；
Pet real-time imaging is absorbed using camera and detects pet whether in excretion, the method also includes:
If detecting, pet controls the traction unmanned plane if excretion and hovers over right above pet and incuded by the pulling force
The pulling force of device detection back belt type pet leash whether there is；
Then the traction unmanned plane continues with back belt type pet traction wire saws pet according to pre-set route if it exists
Carry out pre-set velocity walking；
Motor vehicle refers to that current automobile drives to required for self-position according to present speed to itself close running time
Time；Second pre-set velocity is greater than the first pre-set velocity.
2. a kind of control method of automatic intelligent traction unmanned plane according to claim 1, which is characterized in that described
When drawing unmanned plane according to the progress pre-set velocity walking of pre-set route, the method also includes:
Utilize the direction of travel of external equipment and the connection control traction unmanned plane of the control device of the traction unmanned plane
And the speed of travel；
Utilize the track route of external equipment and the connection control traction unmanned plane of the navigation device of the traction unmanned plane.
3. a kind of control method of automatic intelligent traction unmanned plane according to claim 1, which is characterized in that described
When drawing unmanned plane according to the progress pre-set velocity walking of pre-set route, the method also includes:
The wireless device of the traction unmanned plane is connected using external equipment and is observed by the camera of the traction unmanned plane
The real-time condition of pet；
The positioning device of the traction unmanned plane is connected using external equipment and inquires determining for the traction unmanned plane current location
Position information.
4. a kind of automatic intelligent draws unmanned plane, the traction unmanned plane include ontology, several cameras, processing unit and
Lock, several cameras are located on ontology, for absorbing image；The processing unit is located in the traction unmanned plane
Portion, the lock are located at traction unmanned plane lower section middle position, for fixing back belt type pet leash, on the lock
Equipped with pulling force inductor, for incuding the pulling force of back belt type pet leash, which is characterized in that
The processing unit includes:
Inductor, for incuding whether back belt type pet leash is fixed on lock；
Navigation device, for setting the route of the unmanned machine travel pet of traction；
Control device, for controlling the traction unmanned plane direction and walking according to pre-set velocity；
First analysis module, for whether analyzing pet according to the walking of pre-set route；
Rectification module, for controlling the traction unmanned plane correction pet track route；
First Speed module, it is pre- according to first with pet using back belt type pet leash for controlling the traction unmanned plane
If speed is flown upwards；
Computing module, it is close when driving to itself that driving direction and travel speed for passing through motor vehicle calculate motor vehicle
Between；
Second analysis module, for analyze motor vehicle to itself close running time whether be more than the traction unmanned plane with
The time that pet flies upwards；
Second speed module, it is pre- according to second with pet using back belt type pet leash for controlling the traction unmanned plane
If speed is flown upwards.
5. a kind of automatic intelligent according to claim 4 draws unmanned plane, which is characterized in that the processing unit is also wrapped
It includes:
Third analysis module, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module has other pets for analyzing in pre-determined distance around pet；
The ontology further include:
Loudspeaker is set to ontology middle position, for issuing the alarm song of default decibel.
6. a kind of automatic intelligent according to claim 4 draws unmanned plane, which is characterized in that the processing unit is also wrapped
It includes:
Hovering module, hovers over pet position directly above for controlling the traction unmanned plane.
7. a kind of automatic intelligent according to claim 4 draws unmanned plane, which is characterized in that the processing unit is also wrapped
It includes:
Wireless device, for being attached with external equipment;
Positioning device, for positioning the traction unmanned plane current location and storing current location information.
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| CN107831679B (en) * | 2017-11-09 | 2021-01-01 | 深圳市终极进化科技有限公司 | Humanized control system and method for four-footed bionic robot |
| CN109463301A (en) * | 2018-11-28 | 2019-03-15 | 中山乐心电子有限公司 | A kind of pet method for retrieving and pet wearable device |
| TWI691268B (en) * | 2019-08-28 | 2020-04-21 | 南開科技大學 | Smart dog walking system and method thereof |
| CN111009099A (en) * | 2019-12-23 | 2020-04-14 | 深圳市智宠科技有限公司 | Reminding processing method and device for pet tractor |
| CN111838005B (en) * | 2020-06-22 | 2022-04-19 | 中国科学院深圳先进技术研究院 | Observation device for observing animal activities |
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