CN110850894A - Automatic return method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Automatic return method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an automatic return method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. The method comprises the following steps: in the flight process of electric wires from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the position of the unmanned aerial vehicle between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wires; in the process of flying to an electric tower i along an electric wire, acquiring actual height information and actual deviation information of the unmanned aerial vehicle relative to the electric wire in real time, automatically adjusting the flying position of the unmanned aerial vehicle according to the actual height information and the actual deviation information, and simultaneously adjusting the flying direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in a cruising manner along the electric wire; after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire; and re-circulated until flying to the electric tower 1. The embodiment of the invention improves the reliability of the unmanned aerial vehicle, and can ensure that the unmanned aerial vehicle safely navigates when the navigation equipment fails.
Description
Technical Field
The embodiment of the invention relates to the unmanned aerial vehicle technology, in particular to an automatic return flight method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
The airborne laser radar technology (Light Detection and Ranging, LiDAR) is a new remote sensing technology which is developed and put into commercial application in the nineties of the twentieth century, combines the laser technology, the computer technology, the GPS/inertial navigation and the like, scans a spatial scene through actively emitted laser beams, makes a major breakthrough in the aspect of real-time acquisition of three-dimensional spatial information, and provides a brand-new solution for acquiring more accurate geospatial information. The LiDAR technology directly obtains the three-dimensional coordinates of the surface points of the object through observation data such as positions, distances and angles, has strong advantages on the detection capability of the ground, has the characteristics of high spatial and temporal resolution, large dynamic detection range, capability of partially crossing forest shelters and directly obtaining high-precision three-dimensional information of a real earth surface, and is a brand new means for quickly obtaining high-precision topographic information. Compared with the traditional imaging measurement mode and manual measurement, the method has incomparable advantages, so that the LiDAR combined with the unmanned aerial vehicle technology is widely applied to various fields, such as power grid inspection.
Because the power grid is often located very complicated environment, fly near the power grid, put forward very high requirement to unmanned aerial vehicle's navigation reliability. After common navigation equipment such as a traditional sensor GPS (Global Positioning System) and a magnetometer on the unmanned aerial vehicle is interfered, the unmanned aerial vehicle cannot complete a flight task or even fly safely.
Disclosure of Invention
The embodiment of the invention provides an automatic return method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that the unmanned aerial vehicle can safely return when navigation equipment fails.
In a first aspect, an embodiment of the present invention provides an automatic return method for an unmanned aerial vehicle, including:
the method comprises the steps of firstly, acquiring electric tower information from an electric tower 1 to an electric tower N, wherein the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
step two, in the flight process of the electric wire from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wire, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
acquiring actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flying position of the unmanned aerial vehicle according to the actual height information and the actual offset information, and simultaneously adjusting the flying direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in a cruising manner along the electric wire;
after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire;
and step five, circularly executing the step three and the step four again until flying to the electric tower 1.
Optionally, in the first step, the electric tower information further includes height information.
Optionally, in step three, the obtaining actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time includes:
acquiring the distance from the unmanned aerial vehicle to the wire by using a laser radar;
and calculating actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire according to the distance from the unmanned aerial vehicle to the electric wire, the scanning angle of the wave beam and the rolling angle of the unmanned aerial vehicle.
Optionally, obtaining the distance from the unmanned aerial vehicle to the electric wire by using the laser radar includes:
acquiring a wire point cloud by using a laser radar;
and fusing the electric wire point cloud and the IMU data to obtain the distance from the unmanned aerial vehicle to the electric wire.
Optionally, in step three, automatically adjusting the flight position of the unmanned aerial vehicle according to the actual height information and the actual offset information includes:
acquiring preset height information and preset offset information of the unmanned aerial vehicle relative to the electric wire;
and automatically adjusting the flight position of the unmanned aerial vehicle according to the difference value of the preset height information and the actual height information and the difference value of the preset offset information and the actual offset information.
Optionally, in step three, adjust unmanned aerial vehicle's flight direction in real time, include:
acquiring a wire point cloud by using a laser radar;
acquiring the trend of the electric wire according to the point cloud of the electric wire;
and adjusting the flight direction of the unmanned aerial vehicle in real time according to the trend of the electric wire.
Optionally, in step three, adjust unmanned aerial vehicle's flight direction in real time, include:
acquiring longitude information and latitude information of an electric tower i and an electric tower i + 1;
obtaining a course angle of the electric tower i and the electric tower i +1 according to the longitude information and the latitude information of the electric tower i and the electric tower i + 1;
and adjusting the flight direction of the unmanned aerial vehicle in real time according to the course angles of the electric tower i and the electric tower i + 1.
In a second aspect, an embodiment of the present invention further provides an apparatus for automatic return of an unmanned aerial vehicle, including:
the system comprises an information acquisition unit, a processing unit and a control unit, wherein the information acquisition unit is used for acquiring electric tower information from an electric tower 1 to an electric tower N, the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
the aircraft nose adjusting unit is used for turning the aircraft nose to point to the electric tower i and fly to the electric tower i along the electric wire when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1 in the flying process of the electric wire from the electric tower 1 to the electric tower N, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
the flight control unit is used for acquiring actual height information and actual deviation information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flight position of the unmanned aerial vehicle according to the actual height information and the actual deviation information, and simultaneously adjusting the flight direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in cruise along the electric wire;
the machine head readjusting unit is used for adjusting the machine head to point to the electric tower i-1 and fly to the electric tower i-1 along the electric wire after flying above the electric tower i;
and the circulation control unit is used for circularly executing the flight control unit and the handpiece readjustment unit again until flying to the electric tower 1.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the method for automatic return of the unmanned aerial vehicle as described in any of the above embodiments.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for automatic return of a drone according to any one of the foregoing embodiments.
According to the technical scheme of the embodiment of the invention, the reliability of the line patrol unmanned aerial vehicle is improved, and the unmanned aerial vehicle can safely return when common navigation equipment such as a GPS (global positioning system), a magnetometer and the like fails.
Drawings
Fig. 1 is a schematic flow chart of a method for automatic return of an unmanned aerial vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of the numbering of the electric towers in the first embodiment of the present invention;
fig. 3 is a schematic flow chart of acquiring actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in step S130 in the first embodiment of the present invention;
fig. 4 is a geometric relationship diagram of the unmanned aerial vehicle and the electric wire during the flight process of the unmanned aerial vehicle along the electric wire in the first embodiment of the invention;
fig. 5 is a schematic flow chart of automatically adjusting the flight position of the unmanned aerial vehicle according to the actual height information and the actual offset information in step S130 in the first embodiment of the present invention;
fig. 6 is a schematic flowchart of a first method for adjusting the flight direction of the unmanned aerial vehicle in real time in step S130 according to a first embodiment of the present invention;
fig. 7 is a schematic flowchart of a second method for adjusting the flight direction of the unmanned aerial vehicle in real time in step S130 according to the first embodiment of the present invention;
fig. 8 is a schematic structural diagram of an automatic return device of an unmanned aerial vehicle in the second embodiment of the present invention;
fig. 9 is a schematic structural diagram of an unmanned aerial vehicle in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first speed difference may be referred to as a second speed difference, and similarly, a second speed difference may be referred to as a first speed difference, without departing from the scope of the present application. The first speed difference and the second speed difference are both speed differences, but they are not the same speed difference. The terms "first", "second", etc. are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a schematic flow chart of a method for automatic return flight of an unmanned aerial vehicle according to an embodiment of the present invention. The method of the embodiment of the invention can be executed by an automatic return device of the unmanned aerial vehicle, and the device can be realized by software and/or hardware and can be generally integrated in the unmanned aerial vehicle. Referring to fig. 1, the method for automatic return of the unmanned aerial vehicle in the embodiment of the present invention specifically includes the following steps:
step S110, electric tower information of an electric tower 1 to an electric tower N is obtained, wherein the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer.
In the invention, as shown in fig. 2, when the unmanned aerial vehicle executes the patrol task, each electric tower is numbered, and the electric towers are numbered as an electric tower 1 and an electric tower 2 … … according to the sequence, so that the total number of the electric towers is N. Unmanned aerial vehicle can obtain the flight task through ground control terminal before the task is patrolled and examined in the execution, patrols and examines the electric tower electric wire according to the flight task, and wherein the flight task includes electric tower 1 to electric tower N's electric tower information. The electric tower information refers to all information related to the electric tower, and includes longitude information and latitude information of the electric tower, namely the specific position of the electric tower, the direction of the electric wire between every two electric towers can be obtained through electric tower coordinate calculation, and the unmanned aerial vehicle can fly according to the specific position of the electric tower and the direction of the electric wire. The longitude information refers to longitude coordinates of the electric tower on the earth and/or information related to the longitude coordinates, such as parameters required for calculating the longitude coordinates; the latitude information refers to the latitude coordinate of the electric tower on the earth and/or information related to the latitude coordinate, such as parameters required for calculating the latitude coordinate and the like.
The ground control terminal can transmit the electric tower information (including longitude coordinates and latitude coordinates of each electric tower) to the unmanned aerial vehicle in a wired or wireless mode, and the unmanned aerial vehicle stores the electric tower information in a memory of the unmanned aerial vehicle after receiving the electric tower information. In the flight process, the unmanned aerial vehicle can call the flight of electricity tower information control unmanned aerial vehicle to fly to every electricity tower flight in proper order.
Optionally, the electric tower information may further include height information.
Specifically, the height information refers to the height of the electric tower vertex relative to the electric tower ground and/or information related to the height, such as the altitude, parameters required for calculating the height of the electric tower, and the like. Before the flight, obtain the altitude information of every electricity tower through ground control terminal, can control unmanned aerial vehicle according to the corresponding adjustment flying height of the height of electricity tower, avoid hitting the electricity tower. For example, controlling the flying height of the unmanned aerial vehicle to be 10 meters above the electric tower, and the like.
Step S120, in the flight process of the electric wire from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wire, wherein i is more than or equal to 1 and less than N, and i is a positive integer.
Specifically, unmanned aerial vehicle acquires electricity tower information of electricity tower 1 to electricity tower N after, and electric wire flight along electricity tower 1 to electricity tower N patrols and examines. If unmanned aerial vehicle receives the interference at navigation equipment commonly used such as GPS, magnetometer between electric tower i and electric tower i +1, unable work, when unmanned aerial vehicle can't obtain self position, unmanned aerial vehicle can be according to the longitude information and the latitude information of the electric tower i that acquire earlier, with aircraft nose turning point to electric tower i, the aircraft can rely on inertial navigation work at this in-process, later flies to electric tower i along the electric wire.
Step S130, in the process of flying to the electric tower i along the electric wire, acquiring actual height information and actual deviation information of the unmanned aerial vehicle relative to the electric wire in real time, automatically adjusting the flight position of the unmanned aerial vehicle according to the actual height information and the actual deviation information, and simultaneously adjusting the flight direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in cruise along the electric wire.
Specifically, to keep a fixed distance from the electric wire and cruise along the electric wire, the unmanned aerial vehicle needs to adjust two variables in real time: one is the flight position of the drone; the other is the flight direction of the drone. Specifically, how to adjust the flight position of the unmanned aerial vehicle in real time needs to acquire actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time, and specifically, the actual height information of the unmanned aerial vehicle relative to the electric wire refers to the height difference of the electric wire and information related to the height difference in the flight process of the unmanned aerial vehicle; the actual deviation information of the unmanned aerial vehicle relative to the electric wire refers to the distance of the unmanned aerial vehicle deviating from the electric wire in the horizontal direction and information related to the distance. The following describes in detail three processes of how the unmanned aerial vehicle acquires actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time, how the flying position of the unmanned aerial vehicle is automatically adjusted according to the actual height information and the actual offset information, and how the flying direction of the unmanned aerial vehicle is adjusted in real time.
As shown in fig. 3, in step S130, the step of acquiring the actual height information and the actual offset information of the drone relative to the electric wire in real time includes:
and S131-1, acquiring the distance from the unmanned aerial vehicle to the electric wire by using the laser radar.
Specifically, a laser radar is used for obtaining a point cloud of an electric wire, and then the point cloud of the electric wire and IMU (inertial measurement unit) data are fused to obtain the distance from the unmanned aerial vehicle to the electric wire.
And S131-2, calculating to obtain actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire according to the distance from the unmanned aerial vehicle to the electric wire, the scanning angle of the beam and the rolling angle of the unmanned aerial vehicle.
Specifically, as shown in fig. 4, after the distance D from the unmanned aerial vehicle to the electric wire is measured by the laser radar, the height of the unmanned aerial vehicle from the electric wire is calculated
Horizontal distance between unmanned aerial vehicle and electric wire is
Whereinγ is the roll angle of the drone, the scan angle of the beam.
As shown in fig. 5, in step S130, the step of automatically adjusting the flight position of the unmanned aerial vehicle according to the actual altitude information and the actual offset information includes:
and S132-1, acquiring preset height information and preset offset information of the unmanned aerial vehicle relative to the electric wire.
Specifically, unmanned aerial vehicle need keep fixed distance when flying along the electric wire, be for the fixed height of electric wire and fixed horizontal migration promptly, just need acquire unmanned aerial vehicle for the preset height information of electric wire and preset the skew information. Specifically, the preset height information refers to a preset height difference relative to the electric wire and information related to the height difference, which is required to be maintained in the flight process of the unmanned aerial vehicle, and the preset offset information refers to a preset distance in the horizontal direction relative to the electric wire and information related to the distance.
And S132-2, automatically adjusting the flight position of the unmanned aerial vehicle according to the difference value between the preset height information and the actual height information and the difference value between the preset offset information and the actual offset information.
Because unmanned aerial vehicle is at the actual flight in-process, and the actual altitude difference and the actual horizontal migration distance with the electric wire are inevitable can be not conform to preset altitude difference and predetermined horizontal migration distance, just need acquire unmanned aerial vehicle in real time for the actual altitude information and the actual migration information of electric wire, again according to predetermine altitude information with the difference of actual altitude information predetermine the migration information with the difference of actual migration information, continuous adjustment unmanned aerial vehicle's flight position makes unmanned aerial vehicle accomplish and keeps fixed distance with the electric wire.
Accomplish unmanned aerial vehicle and keep the unchangeable back of distance with the electric wire, still need real-time adjustment unmanned aerial vehicle's direction of flight, make unmanned aerial vehicle fly along the electric wire direction, just enable it and keep fixed distance with the electric wire and cruise the flight along the electric wire. The following describes in detail how to adjust the flight direction of the drone in real time, including two methods.
First, as shown in fig. 6, in step S130, the step of adjusting the flight direction of the drone in real time includes:
and S133-1, acquiring a wire point cloud by using a laser radar.
Specifically, the electric wire point cloud refers to three-dimensional space information (e.g., three-dimensional coordinates) of points (which may be part of the points or all of the points) on the electric wire. The point cloud data of the electric wire can be obtained through the laser radar installed on the unmanned aerial vehicle.
And S133-2, acquiring the trend of the electric wire according to the electric wire point cloud.
Specifically, after the electric wire point cloud is obtained, the basic image of the electric wire is synthesized through the image processing of the unmanned aerial vehicle internal processor, so that the general trend of the electric wire can be obtained.
And S133-3, adjusting the flight direction of the unmanned aerial vehicle in real time according to the trend of the electric wire.
Specifically, after the trend of electric wire is obtained, the current flight direction of unmanned aerial vehicle is gathered in real time, the trend of electric wire and the deviation of the current flight direction of unmanned aerial vehicle are calculated through the processor, and the flight direction of unmanned aerial vehicle is adjusted in real time, so that the flight direction of unmanned aerial vehicle is consistent with the trend of electric wire.
Secondly, as shown in fig. 7, in step S130, the step of adjusting the flight direction of the unmanned aerial vehicle in real time may also be replaced by:
and S134-1, acquiring longitude information and latitude information of the electric tower i and the electric tower i + 1.
Specifically, longitude information and latitude information of the electric tower i and the electric tower i +1 can be obtained through a ground control terminal when the unmanned aerial vehicle inputs a flight task before flying, the information is stored in a memory inside the unmanned aerial vehicle, and in order to adjust the flight direction of the unmanned aerial vehicle in real time, a processor of the unmanned aerial vehicle can obtain longitude coordinates and latitude coordinates of the electric tower i and the electric tower i +1 from the memory of the unmanned aerial vehicle, so that the direction of a connecting line between the electric tower i and the electric tower i +1 can be calculated.
And S134-2, obtaining the heading angle of the electric tower i and the electric tower i +1 according to the longitude information and the latitude information of the electric tower i and the electric tower i + 1.
Specifically, the heading angle refers to a flight direction that the unmanned aerial vehicle needs to keep in the process of flying along the electric wire. After longitude information and latitude information of the electric tower i and the electric tower i +1 are obtained, a processor inside the unmanned aerial vehicle is used for calculating through a trigonometric function to obtain a heading angle of the electric tower i and the electric tower i + 1.
And S134-3, adjusting the flight direction of the unmanned aerial vehicle in real time according to the heading angles of the electric tower i and the electric tower i + 1.
Specifically, after the course angle between the electric tower i and the electric tower i +1 is obtained, the current flight direction of the unmanned aerial vehicle is collected in real time, the deviation between the course angle between the electric tower i and the electric tower i +1 and the current flight direction of the unmanned aerial vehicle is calculated through the processor, and the flight direction of the unmanned aerial vehicle is adjusted in real time, so that the flight direction of the unmanned aerial vehicle is kept consistent with the course angle between the electric tower i and the electric tower i + 1.
And step S140, after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire.
Specifically, after the unmanned aerial vehicle flies above the electric tower i, the aircraft nose is turned to point to the electric tower i-1 according to the longitude information and the latitude information of the electric tower i-1 acquired previously, and the electric tower i-1 flies along the electric wire.
And step S150, executing step S130 and step S140 in a circulating mode until the electric tower 1 is flown.
Specifically, after flying above the electric tower i-1, the unmanned aerial vehicle turns the machine head to point to the electric tower i-2 and flies to the electric tower i-2 along the electric wire, and then i-3 and i-4 … … are carried out until flying to the electric tower 1, at the moment, the unmanned aerial vehicle arrives at the departure point, and the unmanned aerial vehicle can be controlled to return to the air through the remote controller within the sight range of ground control personnel.
It can be understood that if the unmanned aerial vehicle is within the sight of the ground control personnel before flying to the electric tower 1, the unmanned aerial vehicle can also be controlled by the remote controller to finish flying along the electric wire in advance.
According to the technical scheme of the embodiment of the invention, the reliability of the line patrol unmanned aerial vehicle is improved, and the unmanned aerial vehicle can safely return when common navigation equipment such as a GPS (global positioning system), a magnetometer and the like fails.
Example two
The device 200 for automatic return of the unmanned aerial vehicle provided by the embodiment of the invention can execute the method for automatic return of the unmanned aerial vehicle provided by any embodiment of the invention, has corresponding functional modules and beneficial effects of the execution method, can be realized by software and/or hardware (integrated circuit), and can be generally integrated in the unmanned aerial vehicle. Fig. 8 is a schematic structural diagram of an automatic return device 200 for an unmanned aerial vehicle according to a second embodiment of the present invention. Referring to fig. 8, the apparatus 200 for automatic return of an unmanned aerial vehicle according to the embodiment of the present invention may specifically include:
an information obtaining unit 210 configured to obtain electric tower information of electric towers 1 to N, the electric tower information including longitude information and latitude information, where N > 1 and N is a positive integer;
the aircraft nose adjusting unit 220 is used for turning the aircraft nose to point to the electric tower i and fly to the electric tower i along the electric wire when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1 in the flight process of the electric wire from the electric tower 1 to the electric tower N, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
the flight control unit 230 is configured to obtain actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjust the flight position of the unmanned aerial vehicle according to the actual height information and the actual offset information, and simultaneously adjust the flight direction of the unmanned aerial vehicle in real time so that the unmanned aerial vehicle can keep a fixed distance from the electric wire and fly in cruise along the electric wire;
the handpiece readjusting unit 240 is used for adjusting the handpiece to point to the electric tower i-1 and fly to the electric tower i-1 along the electric wire after flying above the electric tower i;
and a circulation control unit 250 for circulating the flight control unit and the handpiece readjustment unit again until the electric tower 1 is flown.
Optionally, in the information obtaining unit 210, the tower information further includes height information.
Optionally, the flight control unit 230 includes:
the electric wire distance obtaining subunit is used for obtaining the distance from the unmanned aerial vehicle to the electric wire by using a laser radar;
and the actual information calculating subunit is used for calculating actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire according to the distance from the unmanned aerial vehicle to the electric wire, the scanning angle of the beam and the rolling angle of the unmanned aerial vehicle.
Optionally, the electric wire distance obtaining subunit includes:
the point cloud acquisition sub-module is used for acquiring the point cloud of the electric wire by using a laser radar;
and the data fusion submodule is used for fusing the electric wire point cloud and the IMU data to obtain the distance from the unmanned aerial vehicle to the electric wire.
Optionally, the flight control unit 230 includes:
the preset information acquisition subunit is used for acquiring preset height information and preset offset information of the unmanned aerial vehicle relative to the electric wire;
and the automatic adjustment subunit is used for automatically adjusting the flight position of the unmanned aerial vehicle according to the difference value between the preset height information and the actual height information and the difference value between the preset offset information and the actual offset information.
Optionally, the flight control unit 230 includes:
the point cloud obtaining subunit is used for obtaining the electric wire point cloud by using a laser radar;
the electric wire direction acquiring subunit is used for acquiring the direction of the electric wire according to the electric wire point cloud;
and the first direction adjusting subunit is used for adjusting the flight direction of the unmanned aerial vehicle in real time according to the trend of the electric wire.
Optionally, the flight control unit 230 includes:
the longitude and latitude acquisition subunit is used for acquiring longitude information and latitude information of the electric tower i and the electric tower i + 1;
the course angle calculating subunit is used for obtaining the course angle between the electric tower i and the electric tower i +1 according to the longitude information and the latitude information of the electric tower i and the electric tower i + 1;
and the second direction adjusting subunit is used for adjusting the flight direction of the unmanned aerial vehicle in real time according to the heading angles of the electric tower i and the electric tower i + 1.
According to the technical scheme of the embodiment of the invention, the reliability of the line patrol unmanned aerial vehicle is improved, and the unmanned aerial vehicle can safely return when common navigation equipment such as a GPS (global positioning system), a magnetometer and the like fails.
EXAMPLE III
Fig. 9 is a schematic structural diagram of a drone according to a third embodiment of the present invention, as shown in fig. 9, the drone includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of processors 310 in the drone may be one or more, with one processor 310 being taken as an example in fig. 9; the processor 310, memory 320, input device 330, and output device 340 in the drone may be connected by a bus or other means, as exemplified by the bus connection in fig. 9.
The memory 320 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for automatic return of unmanned aerial vehicles in the embodiment of the present invention. The processor 310 executes various functional applications and data processing of the drone by running software programs, instructions and modules stored in the memory 320, that is, the method for automatic return of the drone is implemented.
Namely:
the method comprises the steps of firstly, acquiring electric tower information from an electric tower 1 to an electric tower N, wherein the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
step two, in the flight process of the electric wire from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wire, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
acquiring actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flying position of the unmanned aerial vehicle according to the actual height information and the actual offset information, and simultaneously adjusting the flying direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in a cruising manner along the electric wire;
after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire;
and step five, circularly executing the step three and the step four again until flying to the electric tower 1.
Of course, the processor of the server provided in the embodiment of the present invention is not limited to execute the method operations described above, and may also execute related operations in the method for automatic return of the unmanned aerial vehicle provided in any embodiment of the present invention.
The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 320 may further include memory located remotely from the processor 310, which may be connected to the drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 330 may be used to receive entered numerical or character information and generate key signal inputs related to user settings and function control of the drone. The output device 340 may include a display device such as a display screen.
According to the technical scheme of the embodiment of the invention, the reliability of the line patrol unmanned aerial vehicle is improved, and the unmanned aerial vehicle can safely return when common navigation equipment such as a GPS (global positioning system), a magnetometer and the like fails.
Example four
A third embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, are configured to perform a method for automatic return of an unmanned aerial vehicle, the method including:
the method comprises the steps of firstly, acquiring electric tower information from an electric tower 1 to an electric tower N, wherein the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
step two, in the flight process of the electric wire from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wire, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
acquiring actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flying position of the unmanned aerial vehicle according to the actual height information and the actual offset information, and simultaneously adjusting the flying direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in a cruising manner along the electric wire;
after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire;
and step five, circularly executing the step three and the step four again until flying to the electric tower 1.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for automatic unmanned aerial vehicle return provided in any embodiment of the present invention.
The computer-readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
According to the technical scheme of the embodiment of the invention, the reliability of the line patrol unmanned aerial vehicle is improved, and the unmanned aerial vehicle can safely return when common navigation equipment such as a GPS (global positioning system), a magnetometer and the like fails.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic return method of an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the steps of firstly, acquiring electric tower information from an electric tower 1 to an electric tower N, wherein the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
step two, in the flight process of the electric wire from the electric tower 1 to the electric tower N, when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1, the aircraft nose is turned to point to the electric tower i and flies to the electric tower i along the electric wire, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
acquiring actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flying position of the unmanned aerial vehicle according to the actual height information and the actual offset information, and simultaneously adjusting the flying direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in a cruising manner along the electric wire;
after flying above the electric tower i, turning the machine head to point to the electric tower i-1 and flying to the electric tower i-1 along the electric wire;
and step five, circularly executing the step three and the step four again until flying to the electric tower 1.
2. The method for automatic unmanned aerial vehicle return journey according to claim 1, wherein in step one, the electric tower information further includes altitude information.
3. The method for automatic return of unmanned aerial vehicle according to claim 1, wherein in step three, the obtaining of the actual height information and the actual offset information of the unmanned aerial vehicle relative to the electric wire in real time comprises:
acquiring the distance from the unmanned aerial vehicle to the wire by using a laser radar;
and calculating actual height information and actual offset information of the unmanned aerial vehicle relative to the electric wire according to the distance from the unmanned aerial vehicle to the electric wire, the scanning angle of the wave beam and the rolling angle of the unmanned aerial vehicle.
4. The method for unmanned aerial vehicle to automatically return to the home according to claim 3, wherein the obtaining of the distance from the unmanned aerial vehicle to the electric wire by using the laser radar comprises:
acquiring a wire point cloud by using a laser radar;
and fusing the electric wire point cloud and the IMU data to obtain the distance from the unmanned aerial vehicle to the electric wire.
5. The method for automatic return of unmanned aerial vehicle of claim 1, wherein in step three, the automatically adjusting the flight position of unmanned aerial vehicle according to the actual height information and the actual offset information comprises:
acquiring preset height information and preset offset information of the unmanned aerial vehicle relative to the electric wire;
and automatically adjusting the flight position of the unmanned aerial vehicle according to the difference value of the preset height information and the actual height information and the difference value of the preset offset information and the actual offset information.
6. The method for automatic return of unmanned aerial vehicle according to claim 1, wherein in step three, the adjusting the flight direction of unmanned aerial vehicle in real time comprises:
acquiring a wire point cloud by using a laser radar;
acquiring the trend of the electric wire according to the point cloud of the electric wire;
and adjusting the flight direction of the unmanned aerial vehicle in real time according to the trend of the electric wire.
7. The method for automatic return of unmanned aerial vehicle according to claim 1, wherein in step three, the adjusting the flight direction of unmanned aerial vehicle in real time comprises:
acquiring longitude information and latitude information of an electric tower i and an electric tower i + 1;
obtaining a course angle of the electric tower i and the electric tower i +1 according to the longitude information and the latitude information of the electric tower i and the electric tower i + 1;
and adjusting the flight direction of the unmanned aerial vehicle in real time according to the course angles of the electric tower i and the electric tower i + 1.
8. The utility model provides an automatic device of returning voyage of unmanned aerial vehicle which characterized in that includes:
the system comprises an information acquisition unit, a processing unit and a control unit, wherein the information acquisition unit is used for acquiring electric tower information from an electric tower 1 to an electric tower N, the electric tower information comprises longitude information and latitude information, N is more than 1, and N is a positive integer;
the aircraft nose adjusting unit is used for turning the aircraft nose to point to the electric tower i and fly to the electric tower i along the electric wire when the unmanned aerial vehicle cannot obtain the self position between the electric tower i and the electric tower i +1 in the flying process of the electric wire from the electric tower 1 to the electric tower N, wherein i is more than or equal to 1 and less than N, and i is a positive integer;
the flight control unit is used for acquiring actual height information and actual deviation information of the unmanned aerial vehicle relative to the electric wire in real time in the process of flying to the electric tower i along the electric wire, automatically adjusting the flight position of the unmanned aerial vehicle according to the actual height information and the actual deviation information, and simultaneously adjusting the flight direction of the unmanned aerial vehicle in real time to enable the unmanned aerial vehicle to keep a fixed distance with the electric wire and fly in cruise along the electric wire;
the machine head readjusting unit is used for adjusting the machine head to point to the electric tower i-1 and fly to the electric tower i-1 along the electric wire after flying above the electric tower i;
and the circulation control unit is used for circularly executing the flight control unit and the handpiece readjustment unit again until flying to the electric tower 1.
9. A drone comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method of drone auto-return as in any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the method for automatic fly-back of a drone according to any one of claims 1 to 7.
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