CN107438567A - Unmanned plane and its control method - Google Patents
Unmanned plane and its control method Download PDFInfo
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- CN107438567A CN107438567A CN201680004278.3A CN201680004278A CN107438567A CN 107438567 A CN107438567 A CN 107438567A CN 201680004278 A CN201680004278 A CN 201680004278A CN 107438567 A CN107438567 A CN 107438567A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of control method of unmanned plane (500), including, obtain the first height (401) of unmanned plane (500), obtain the reference altitude (402) of unmanned plane (500), the first sinking speed (403) of unmanned plane (500) is obtained according to the first height and reference altitude, and unmanned plane (500) motion (404) is controlled according to the first sinking speed.
Description
【Technical field】
The present invention relates to a kind of unmanned plane, and more particularly to a kind of unmanned plane with automatic landing function.
【Background technology】
The process that every time must there is unmanned plane during flying when unmanned plane during flying lands, and accident occurs during landing
Probability is often higher.The place (on tree, the water surface, uneven ground etc.) of unsuitable unmanned plane landing is such as dropped to, easily
Unmanned plane is caused to be damaged.So necessary introduce some safeguard measures when unmanned plane lands.Ensure unmanned plane drop
The security fallen, avoid damaging unmanned plane or injure other people.
Existing unmanned plane landing method be typically all directly toward decline, do not perceive it is also how high away from ground during landing,
Or have perception but do not add some safeguard measures, and the perception to ground environment does not often have.This easily causes nobody
Machine drops to the place for being not suitable for landing and security incident occurs when landing.
【The content of the invention】
, can be under various circumstances the present invention solves the technical problem of a kind of unmanned plane and its control method is provided
Select suitable landing place and land automatically, it is not necessary to human intervention, avoid damaging unmanned plane or injure other people.
One aspect of the present invention provides a kind of control method of unmanned plane, and methods described includes：Obtain the unmanned plane
First height；Obtain preset reference altitude；First height is analyzed according to the preset reference altitude, to obtain
Take the first sinking speed of the unmanned plane；And the unmanned plane is controlled to move according to first sinking speed.
Another aspect of the present invention provides a kind of unmanned plane, and the unmanned plane includes：Sensor, for obtain it is described nobody
First height of machine；Memory, for storing preset reference altitude；And one or more processors, it is used for：Deposited from described
The preset reference altitude is transferred in reservoir；First height is analyzed according to the preset reference altitude, with
Obtain the first sinking speed of the unmanned plane；And the unmanned plane is controlled to move according to first sinking speed.
In certain embodiments, first sinking speed is linearly related to the preset reference altitude.
In certain embodiments, the preset reference altitude includes the first reference altitude and the second reference altitude, described
Second reference altitude is less than first reference altitude.
In certain embodiments, it is described to control the unmanned plane motion to include according to first sinking speed：According to institute
State that the control of the first sinking speed is described man-machine to move in first reference altitude and second reference altitude.
In certain embodiments, it is described to control the unmanned plane landing to include according to first sinking speed：According to institute
Stating the first sinking speed controls the unmanned plane to hover over the preset reference altitude.
In certain embodiments, methods described also includes：The second height of the unmanned plane is obtained, described second is highly small
In or equal to second reference altitude；And the second landing of the unmanned plane is obtained according to the second height of the unmanned plane
Speed.
In certain embodiments, state the second sinking speed and be less than first sinking speed.
In certain embodiments, second sinking speed is constant.
In certain embodiments, methods described also includes：Obtain the ambient image of the unmanned plane；From the ambient image
Middle extraction landing place；And the unmanned plane is controlled to land according to the landing place.
In certain embodiments, it is described to control the unmanned plane landing to include according to the landing place：According to the drop
Pick-up point controls the unmanned plane to drop on ground the region for corresponding to the level point.
In certain embodiments, methods described also includes：Obtain the ambient image of the unmanned plane；And ought it not land
When place extracts from the ambient image, the unmanned plane horizontal flight is controlled.
In certain embodiments, methods described also includes：Receive the status information of sensor；And believed according to the state
Breath controls the unmanned plane, it is hovered in predetermined altitude.
【Brief description of the drawings】
, below will be to embodiment or existing in order to illustrate more clearly of present disclosure embodiment or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are originally to drape over one's shoulders
Some embodiments of dew, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the structural representation of uav bottom provided in an embodiment of the present invention；
Fig. 3 is the module diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 4 is the flow chart of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 5 is that unmanned plane provided by the invention lands the schematic diagram of embodiment one automatically；
Fig. 6 is that unmanned plane provided by the invention lands the schematic diagram of embodiment two automatically；
Fig. 7 is that unmanned plane provided by the invention lands the schematic diagram of embodiment three automatically；
【Embodiment】
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 clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Term " first ", " second " in description and claims of this specification and above-mentioned accompanying drawing etc. are to be used to distinguish
Similar object, without for describing specific order or precedence.It should be appreciated that the term so used is in appropriate feelings
It can be exchanged under condition, this is only to describe object used differentiation in description in embodiments of the invention to same alike result
Mode.In addition, term " comprising " and " having " and their any deformation, it is intended that cover it is non-exclusive include, so as to
Process, method, system, product or equipment comprising a series of units are not necessarily limited to those units, but may include unclear
Other units that ground is listed or for these processes, method, product or equipment inherently.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
The present invention is described in detail with reference to the accompanying drawings and examples.
Refering to Fig. 1, Fig. 1 is unmanned plane structural representation provided in an embodiment of the present invention.Unmanned plane 100 can include fuselage
110, the fuselage 110 includes middle body 111 and one or more exterior sections 112.In the embodiment shown in fig. 1,
The fuselage 110 includes four exterior sections 112 (such as horn 113).Four exterior sections 112 are respectively from the central portion
111 are divided to extend out.In other embodiments, the fuselage 110 can include any number of exterior section 112 (such as 6,8
It is individual etc.).In any above-described embodiment, each exterior section 112 can carry a propulsion system 120, the propulsion
System 120 can drive the unmanned plane 100 to move and (such as climb, land, moving horizontally).Such as：The horn 113 can be with
Motor 121 corresponding to carrying, the motor 121 can drive corresponding propeller rotational.The unmanned plane 100, which can control, appoints
Anticipate one group of motor 121 and its corresponding propeller 122, without being influenceed by remaining motor 121 and its corresponding propeller.
The fuselage 110 can carry a load 130, such as：Imaging device 131.In certain embodiments, it is described into
Picture device 131 can include a camera, such as：Image around the unmanned plane, video etc. can be shot.The shooting
The photosensitive light in various wavelength, including but not limited to visible ray, ultraviolet, infrared ray or any combination therein.One
In a little embodiments, the load 130 can include other kinds of sensor.In certain embodiments, the load 130 passes through
Head 150 links together with the fuselage 110 so that the load 130 can move relative to the fuselage 110.Such as：
When the load 130 carries imaging device 131, the imaging device 131 can be moved with described in shooting relative to fuselage 110
Image, video around unmanned plane 100 etc..As illustrated, when unmanned plane 100 is located at ground, undercarriage 114 can support nothing
Man-machine 100 with protect it is described load 130.
In certain embodiments, the unmanned plane 100 can include control system 140, and the control system 140 includes putting
Component and the component that is separated with the unmanned plane 100 in the unmanned plane 100.For example, the control system 140 can wrap
Include first controller 141 being placed on the unmanned plane 100, and one away from the unmanned plane 100 and passes through communication
The second controller 142 that link 160 (such as Radio Link) is connected with first controller 141.First controller 141 can
With including one or more processors, memory and airborne computer computer-readable recording medium 143a, readable Jie of airborne computer
Matter 143a can store the programmed instruction for controlling the behavior of unmanned plane 100, and the behavior includes but is not limited to described promote and is
The operation of system 120 and the imaging device 131, the unmanned plane is controlled to carry out automatic landing etc..The second controller 142 can
To be filled including computer-readable medium 143b outside one or more processors, memory, machine, and one or more input and output
Put 148, such as：Display device 144 and control device 145.The operator of the unmanned plane 100 can pass through the control device
Unmanned plane 100 described in 145 remote controls, and received by the display device 144 and/or other devices and come from the unmanned plane
100 feedback information.In other embodiments, the unmanned plane 100 can be operated independently, now the second controller 142
It can be removed, or the second controller 142 can be used only for making unmanned operators rewrite for unmanned plane during flying
Function.The airborne computer computer-readable recording medium 143a can be moved out of in the unmanned plane 100.Calculating connects readable outside the machine
Medium 143b can be moved out of in the second controller 142.
In certain embodiments, the unmanned plane 100 can include two forward sight cameras 171 and 172, and the forward sight is taken the photograph
As the first 171 and 172 photosensitive light (such as visible ray, infrared light, ultraviolet) in various wavelength are used to shoot the unmanned plane week
The image or video enclosed.In certain embodiments, the unmanned plane 100 includes the one or more sensors for being placed in bottom.
Fig. 2 is the structural representation of uav bottom provided in an embodiment of the present invention.The unmanned plane 100 can include two
Individual the lower of the bottom of fuselage 110 that be placed in regards camera 173 and 174.In addition, the unmanned plane 100 is also placed in institute including two
State the sonac 177 and 178 of the bottom of fuselage 110.The sonac 177 and 178 can detect and/or monitor described
The object of the bottom of unmanned plane 100 and ground, and measured by sending and receiving ultrasonic wave from a distance from the object or ground.
In other embodiments, the unmanned plane 100 can include Inertial Measurement Unit (English：inertial
Measurement unit, abbreviation：IMU), infrared sensor, microwave remote sensor, temperature sensor, Proximity Sensor (English
Text：Proximity sensor), three-dimensional laser rangefinder, three-dimensional TOF etc..The three-dimensional laser rangefinder and the three-dimensional TOF
The distance of unmanned equipment underlying object or dignity can be detected.
In certain embodiments, the Inertial Measurement Unit can be used for the height for measuring most unmanned planes.The inertia
Measuring unit can include but is not limited to, one or more accelerometers, gyroscope, magnetometer or any combination therein.Institute
The acceleration that accelerometer can be used for measuring the unmanned plane is stated, to calculate the speed of the unmanned plane.
In certain embodiments, the unmanned plane can be by the sensor detection and/or monitoring of environmental information, with choosing
Select a place for being adapted to landing.Whether the environmental information includes but is not limited to ground flat degree, is water surface etc..
In certain embodiments, the unmanned plane can shoot picture on environmental information by camera, and from this
Depth information is extracted in picture to reconstruct the dimensional topography of the environment (dimensional topography of such as uav bottom), and from described
A place for being adapted to landing is selected in dimensional topography.
In certain embodiments, the environmental information that the unmanned plane can be detected and/or monitored according to the sensor
(such as height), progress is landed until resting on the ground below the unmanned plane automatically.For example, the unmanned plane can be divided
Section landing, the sinking speed of the unmanned plane described in each section is different, and the quantity of the segmentation does not limit herein, can appoint
Quantity of anticipating (such as 2 sections, 3 sections, 4 sections).
In certain embodiments, the unmanned plane can hover over a preset height after the certain altitude that lands.
In some embodiments, after the unmanned plane hovering, the environmental information of the uav bottom can be detected by sensor, with
A place for being adapted to land is selected to control the unmanned plane to land automatically.
Fig. 3 is the module diagram of unmanned plane provided in an embodiment of the present invention.Refering to Fig. 3, unmanned plane 100 can include
One or more processors 301, sensor assembly 302, memory module 303 and input/output module 304.
The control module 301 can include one or more processors, and the processor includes but is not limited to microprocessor
Device (English：Microcontroller), Reduced Instruction Set Computer (English：reduced instruction set
Computer, referred to as：RISC), application specific integrated circuit (English：application specific integrated
Circuits, referred to as：ASIC), ASIP (English：application-specific instruction-
Set processor, referred to as：ASIP), CPU (English：Central processing unit, referred to as：CPU),
Concurrent physical processor English (English：Physics processing unit, referred to as：PPU), digital signal processor (English：
Digital signal processor, abbreviation DSP), field programmable gate array (English：field programmable
Gate array, referred to as：FPGA) etc..
The sensor assembly 302 can include one or more sensors, and the sensor includes but is not limited to temperature
Sensor, Inertial Measurement Unit, accelerometer, imaging sensor (such as camera), sonac, microwave remote sensor, low coverage
From sensor, three-dimensional laser rangefinder, infrared sensor etc..
In certain embodiments, the Inertial Measurement Unit can be used for the height for measuring most unmanned planes.The inertia
Measuring unit can include but is not limited to, one or more accelerometers, gyroscope, magnetometer or any combination therein.Institute
The acceleration that accelerometer can be used for measuring the unmanned plane is stated, to calculate the speed of the unmanned plane.
The memory module 303 can include but is not limited to read-only storage (ROM), random access memory (RAM), may be programmed
System memory (PROM), electronics are erased formula programmable read only memory (EEPROM) etc..The memory module 303 can include
Take temporary computer-readable medium, it can be stored for performing other described one or more steps everywhere herein
Code, logic or instruction.The control module 301, it can be according to non-transitory computer-readable medium described herein
Code, logic or instruction and either individually or collectively perform one or more steps.
The input/output module 304 is used for outside equipment output information or instruction, the input and output dress as described in receiving
The instruction that 148 (see Fig. 1) are sent is put, or the image that the imaging device 131 (see Fig. 1) is shot is sent to the input and output
Device 148.
In certain embodiments, the control module 301 can be detected and/or monitored according to the sensor assembly 302
The information arrived, the unmanned plane 100 is controlled to land.For example, the control module 301 can be according to the sensor assembly 302
The height for detecting and/or monitoring, calculate the sinking speed of the unmanned plane 100.For another example, the control module 301 can root
The image or video shot according to the sensor assembly 302, the dimensional topography of the bottom of unmanned plane 100 is rebuild, and described
Suitable landing place is selected in dimensional topography, to control the unmanned plane 100 to land.
Fig. 4 is the flow chart of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention.Refering to Fig. 4, the execution master of the flow
Control system and one or more sensor of the body for the unmanned plane.The control system of the unmanned plane can receive described one
The data of individual or multiple sensor detections and/or monitoring, and control the unmanned plane to move according to the data.
Step 401, the first height of the unmanned plane is obtained.
In certain embodiments, the unmanned plane can be by one or more sonacs, such as：Sonac
One or more of 177 and 178 (see Fig. 1), obtain first height.Specifically, the sonac 177 and 178
Ultrasonic wave can be earthward sent, the ultrasonic wave after ground return by the unmanned plane through can be received, by obtaining
Delivery time and the time of reception of ultrasonic wave are stated, is aided with the spread speed of sound, first height can be calculated.
In other embodiments, the unmanned plane can be by one or more cameras, such as the He of forward sight camera 171
172, it is lower to regard one or more of camera 173 and 174, obtain first height.As shown in Fig. 2 lower regard images
First 173 and 174 are installed in the bottom of the unmanned plane, for shooting the image and/or video of the uav bottom.It is described
Unmanned plane can utilize Stereo Matching Technology (English：Stereo matching techniques), extract described image and/or
Depth information in the video, and according to the dimensional topography of the depth information reconstruction uav bottom, so as to obtain
First height.In other embodiments, the unmanned plane can utilize outside camera (such as：Imaging device 131), obtain
First height.
In other embodiments, the unmanned plane can earthward send microwave, the microwave warp by microwave remote sensor
It can be received by the unmanned plane after ground return, by obtaining delivery time and the time of reception of the microwave, be aided with micro-
The propagation of ripple hastens, and can calculate first height.
In other embodiments, it is high can to obtain described first by one or more laser range finders for the unmanned plane
Degree.Specifically, the laser range finder can be installed in the bottom of the unmanned plane earthward to send microwave, the laser
Through can be received after ground return by the unmanned plane, by obtaining delivery time and the time of reception of the laser, it is aided with
The spread speed of laser, first height can be calculated..
In other embodiments, the unmanned plane can obtain described the by infrared sensor, Proximity Sensor etc.
One height, will not be described here.
Step 402, preset reference altitude is obtained.
In certain embodiments, the preset reference altitude can be used for the sinking speed for calculating the unmanned plane, institute
State reference altitude be preset with the unmanned plane, such as described computer-readable medium 143a (see Fig. 1), the memory module
403 (see Fig. 4) or the memory.Refering to Fig. 5, Fig. 5 is that unmanned plane provided by the invention lands the showing of embodiment one automatically
It is intended to.Unmanned plane 500 has automatic landing function.In certain embodiments, unmanned plane 500 can be along perpendicular to the side on ground 501
To automatic landing.In certain embodiments, unmanned plane 500 can be segmented according to reference altitude along perpendicular to the direction on ground 501
Automatically landed.Such as：The preset reference altitude includes the first reference altitude H1And the second reference altitude H2, when nobody
The height of machine 500 is more than or equal to H1When, it will be according to speed V1Landing.When the height of the unmanned plane 500 is more than H2Less than H1
When, it will be according to speed V2Landing.When the height of the unmanned plane 500 is less than or equal to H2When, it will be according to speed V3Landing.
Calculate V1, V2, V3 formula be：
V1=a (h >=5)
V3=b (h≤0.5)
Wherein, h refers to the present level of the unmanned plane 500, and a and b is constant.
In certain embodiments, H1For 5 meters, H2For 0.5 meter, unmanned plane 500 will calculate its landing speed according to equation below
Degree.
V1=V (h >=5)
V3=0.4 (h≤0.5)
Wherein, h refers to the present level of the unmanned plane 500, when the height of the unmanned plane 500 is more than or equal to 5 meters,
It will land according to speed V meter per seconds, and V is a constant (such as 5 meter per seconds, 4 meter per seconds).When the height of the unmanned plane 500 is more than
0.5 meter and less than 5 meters when, it will be according to speed V2Landing.Speed V2For a variable, it is linearly related to height h.When the nothing
When man-machine 500 height is less than or equal to 0.5 meter, it will be according to speed V3Landing.In the present embodiment, V3For 0.4 meter per second.
It is worth noting that, the above-mentioned description to reference altitude is of the invention only for the purposes of understanding.To the common of this area
For technical staff, on the basis of the present invention is understood, the user of the unmanned plane or the manipulation unmanned plane can be to described
The value of first reference altitude and second reference altitude is made to be changed and converts in real time, but the modification is with converting still at this
Within the protection domain of invention.Such as:Change the first height H1For 10 meters, the second height H is changed2For 1 meter.For another example：
User can make modification and conversion to the parameter in formula group 1 and constant, but the modification and conversion are still in the guarantor of the present invention
Within the scope of shield.
In certain embodiments, the reference altitude can be used for the sinking speed for calculating the unmanned plane, and make described
Unmanned plane hovers.The reference altitude is predisposed in the unmanned plane, such as described computer-readable medium 143a (see Fig. 1),
The memory module 403 (see Fig. 4) or the memory.Refering to Fig. 6, Fig. 6 is that unmanned plane provided by the invention lands automatically
The schematic diagram of embodiment two.Unmanned plane 600 has automatic landing function.In the present embodiment, the preset reference altitude is h,
The present level of unmanned plane is H, and unmanned plane 600 can hover along after landing one end distance automatically perpendicular to the direction on ground 601
In h.Then unmanned plane 600 drops to height h sinking speed V from height H and can calculated according to equation below：
V=H-h (formula group 3)
Wherein, the sinking speed V of unmanned plane 600 is linearly related to height H, reduces as its height constantly reduces, most
Eventually unmanned plane 600 is hovered in the preset reference altitude h.
In other embodiments, the sinking speed V of unmanned plane 600 can be with nonlinear correlation in height H, such as：Unmanned plane 600
Sinking speed V can be calculated according to equation below：
V=H2- h (formula group 4)
Wherein, the sinking speed V nonlinear correlations of unmanned plane 600 reduce as its height constantly reduces in height H,
Finally unmanned plane 600 is hovered in height
Step 403, first height is analyzed according to the preset reference altitude, to obtain the unmanned plane
The first sinking speed.
Wherein, the first sinking speed of the unmanned plane can according to formula group 1 above, formula group 2, formula group 3,
The grade of formula group 4 calculates, and therefore not to repeat here.
In certain embodiments, first sinking speed can be V1.In other embodiments, the first landing speed
Degree can be V2。
In certain embodiments, first sinking speed is constant, and the unmanned plane can be predetermined to one with device descending at constant speed
Highly, or device descending at constant speed is to ground.
Step 404, the unmanned plane is controlled to move according to first sinking speed.
In certain embodiments, the unmanned plane can obtain the second height, and second height is less than or equal to described
Second reference altitude, the unmanned plane can obtain the second sinking speed according to the described second height.In certain embodiments, institute
It is constant (such as V to state the second sinking speed3), the unmanned plane can drop to ground according to second sinking speed.
In certain embodiments, the unmanned plane can drop to certain altitude (such as 3 according to first sinking speed
Rice) after, using airborne environmental sensor, the environmental information of the uav bottom is detected and/or monitors, to judge the nothing
Man-machine bottom is if appropriate for landing.The sensor includes but is not limited to sonac, infrared sensor, closely sensed
Device, microwave remote sensor, camera, three-dimensional laser rangefinder, three-dimensional TOF etc..
In certain embodiments, the unmanned plane can be by camera, as follows depending in camera 173 and 174 (see Fig. 2)
One or two, shoot the image of the uav bottom from different perspectives.In certain embodiments, the unmanned plane can be with
One target area is selected in described image by a sliding window.The coordinate information of each pixel in the target area
(the x, y, z coordinate of such as each pixel, z coordinate represent the depth information of the pixel) can be extracted.In some implementations
In example, the unmanned plane can utilize camera (such as camera 172 and 714) while two images of shooting or successive shooting, institute
Stating depth information can be extracted according to Stereo Matching Technology (such as semi-global block matching algorithms).Institute
A best fit plane can be selected according to the coordinate information of pixel in the target area from the icon area by stating unmanned plane
And cost function corresponding with the best fit plane.In certain embodiments, the unmanned plane can by using algorithm,
Such as：Levenberg-Marquart method (English：Leverberg-Marquardt algorithm), to determine that one is most preferably put down
Face and its corresponding cost function.Afterwards, the remaining area that the unmanned plane will be traveled through in described image by the sliding window
Domain, generate multiple best fit planes and cost function corresponding with the multiple best fit plane.The multiple best fit plane will be located
(such as smoothing processing) is managed to generate a best fit plane as the place for being adapted to landing.
In the present embodiment, the unmanned plane shoots the image of bottom by camera, and is reconstructed according to described image
The dimensional topography of bottom, to select a place for being adapted to landing from the dimensional topography.The advantages of embodiment of the present invention, exists
In, the place that can land can be automatically selected by the dimensional topography, it is safe gently to land, without artificial dry
In advance.Ensure the security of unmanned plane landing, avoid damaging unmanned plane or injure other people.
Refering to Fig. 7, Fig. 7 is that unmanned plane provided in an embodiment of the present invention lands the schematic diagram of embodiment three automatically.Unmanned plane
700 can by above example describe methods, shooting bottom diagram as 705, and according to described image 705 rebuild it is described nobody
The dimensional topography of the bottom of machine 700, and suitable landing place is selected in the dimensional topography.Such as：The unmanned plane 700 can
To identify the water surface 701, clivia 702 and level land 703.The unmanned plane 700 may determine that the water surface 701 and the clivia
702 are not suitable for landing, and level land 703 is landed described in final choice.
In certain embodiments, if not finding the place for being adapted to landing, the unmanned plane in the dimensional topography
It will keep highly constant, by the new bottom image of horizontal direction follow shot to obtain new dimensional topography, and attempt
Suitable landing place is found in new dimensional topography.
In certain embodiments, if the unmanned plane can not find suitable landing place all the time, as one predetermined
Suitable landing place can not be found in time interval, then the unmanned plane will hover over height known to one, wait stand-by
Family inputs next instruction.
In certain embodiments, if the unmanned plane have found suitable landing place in the dimensional topography of acquisition,
Then the unmanned plane will directly drop to the landing place.
The unmanned plane can obtain the sensor of the unmanned plane (such as the forward sight camera in certain embodiments
171 and 172, it is described lower regarding camera 173 and 174, the sonac 177 and status information 178), such as detection and/or
Monitor whether the sensor fails.For example, the unmanned plane can be by sending an inquiry signal, such as to the sensor
Sensor described in fruit does not return to answer signal, then the unmanned plane can determine the sensor failure.In other embodiment
In, the sensor periodically or aperiodically can send detection and/or the information monitored to the unmanned plane, if
The unmanned plane in a predetermined time interval (such as：60 seconds) do not receive the information that the sensor is sent, then the nothing
It is man-machine to may determine that the sensor failure.
In certain embodiments, if the unmanned plane judges the sensor failure, the unmanned plane can hover
In a known altitude, user is waited to confirm whether landing place is safe, can be to institute if user confirms landing place safety
State unmanned plane and send a landing instruction.After the unmanned plane receives landing instruction, landing will be started until completing whole landing
Process.
Using the embodiment of the present invention, in the sensor failure of unmanned plane, protection mechanism can be used in time, described in control
Unmanned plane hovers over a predetermined altitude, waits the instruction of the input of user, ensures that unmanned plane can be avoided with safe falling
Damage unmanned plane injures other people.
It is worth noting that, above-mentioned flow chart is only to facilitate the understanding present invention, is not considered as of the invention unique
Implementation.To those skilled in the art, can be to above-mentioned flow chart on the basis of the present invention is understood
In step increased, deleted and converted, but the modification to flow chart is still within protection scope of the present invention.Example
Such as, user can change the reference altitude.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
This patent document disclosure includes material protected by copyright.The copyright owns for copyright holder.Copyright
Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or should
Patent discloses.
Finally it should be noted that：Various embodiments above is only to illustrate the technical scheme of present disclosure, rather than its limitations；To the greatest extent
Present disclosure is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from each embodiment technology of present disclosure
The scope of scheme.
Claims (24)
1. a kind of control method of unmanned plane, it is characterised in that methods described includes：
Obtain the first height of the unmanned plane；
Obtain preset reference altitude；
First height is analyzed according to the preset reference altitude, to obtain the first of the unmanned plane the landing speed
Degree；And
The unmanned plane motion is controlled according to first sinking speed.
2. according to the method for claim 1, it is characterised in that first sinking speed is linearly related to described preset
Reference altitude.
3. according to the method for claim 2, it is characterised in that the preset reference altitude include the first reference altitude and
Second reference altitude, second reference altitude are less than first reference altitude.
4. according to the method for claim 3, it is characterised in that it is described according to first sinking speed control it is described nobody
Machine motion includes：
Man-machine transported according to first sinking speed control is described in first reference altitude and second reference altitude
It is dynamic.
5. according to the method for claim 2, it is characterised in that it is described according to first sinking speed control it is described nobody
Machine landing includes：
The unmanned plane is controlled to hover over the preset reference altitude according to first sinking speed.
6. according to the method for claim 4, it is characterised in that methods described also includes：
The second height of the unmanned plane is obtained, second height is less than or equal to second reference altitude；And
The second sinking speed of the unmanned plane is obtained according to the second height of the unmanned plane.
7. according to the method for claim 6, it is characterised in that second sinking speed is less than the described first landing speed
Degree.
8. according to the method for claim 7, it is characterised in that second sinking speed is constant.
9. according to the method for claim 5, it is characterised in that methods described also includes：
Obtain the ambient image of the unmanned plane；
The extraction landing place from the ambient image；And
The unmanned plane landing is controlled according to the landing place.
10. according to the method for claim 9, it is characterised in that described that the unmanned plane is controlled according to the landing place
Landing includes：
The region that corresponds to the landing place is dropped on ground according to the landing place control unmanned plane.
11. according to the method for claim 5, it is characterised in that methods described also includes：
Obtain the ambient image of the unmanned plane；And
When no landing place extracts from the ambient image, the unmanned plane horizontal flight is controlled.
12. according to the method for claim 1, it is characterised in that methods described also includes：
Receive the status information of sensor；And
The unmanned plane is controlled according to the status information, it is hovered in predetermined altitude.
13. a kind of unmanned plane, it is characterised in that the unmanned plane includes：
Sensor, for obtaining the first height of the unmanned plane；
Memory, for storing preset reference altitude；And
One or more processors, it is used for：
The preset reference altitude is transferred from the memory；
First height is analyzed according to the preset reference altitude, to obtain the first of the unmanned plane the landing speed
Degree；And
The unmanned plane motion is controlled according to first sinking speed.
14. unmanned plane according to claim 13, it is characterised in that first sinking speed is linearly related to described pre-
The reference altitude put.
15. unmanned plane according to claim 14, it is characterised in that the preset reference altitude includes first with reference to high
Degree and the second reference altitude, second reference altitude are less than first reference altitude.
16. unmanned plane according to claim 15, it is characterised in that described according to first sinking speed control
Unmanned plane motion includes：
The unmanned plane is controlled in first reference altitude and second reference altitude according to first sinking speed
Motion.
17. unmanned plane according to claim 14, it is characterised in that described according to first sinking speed control
Unmanned plane landing includes：
The unmanned plane is controlled to hover over the preset reference altitude according to first sinking speed.
18. unmanned plane according to claim 16, it is characterised in that methods described also includes：
The second height of the unmanned plane is obtained, second height is less than or equal to second reference altitude；And
The second sinking speed of the unmanned plane is obtained according to the second height of the unmanned plane.
19. unmanned plane according to claim 18, it is characterised in that second sinking speed is less than the described first landing
Speed.
20. unmanned plane according to claim 18, it is characterised in that second sinking speed is constant.
21. unmanned plane according to claim 17, it is characterised in that one or more of processors are additionally operable to：
Obtain the ambient image of the unmanned plane；
The extraction landing place from the ambient image；And
The unmanned plane landing is controlled according to the landing place.
22. unmanned plane according to claim 21, it is characterised in that it is described according to it is described landing place control it is described nobody
Machine landing includes：
The region that corresponds to the landing place is dropped on ground according to the landing place control unmanned plane.
23. unmanned plane according to claim 17, it is characterised in that methods described also includes：
Obtain the ambient image of the unmanned plane；And
When no landing place extracts from the ambient image, the unmanned plane horizontal flight is controlled.
24. unmanned plane according to claim 13, it is characterised in that one or more of sensors are additionally operable to：
Receive the status information of sensor；And
The unmanned plane is controlled according to the status information, it is hovered in predetermined altitude.
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| CN202011464102.0A CN112666969A (en) | 2016-09-26 | 2016-09-26 | Unmanned aerial vehicle and control method thereof |
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| PCT/CN2016/100197 WO2018053867A1 (en) | 2016-09-26 | 2016-09-26 | Unmanned aerial vehicle, and control method thereof |
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| CN117836735A (en) * | 2021-09-27 | 2024-04-05 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle and storage medium |
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| CN112666969A (en) | 2021-04-16 |
| WO2018053867A1 (en) | 2018-03-29 |
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