CN103914075A - Control method and device for unmanned aerial vehicle - Google Patents
Control method and device for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN103914075A CN103914075A CN201310687626.XA CN201310687626A CN103914075A CN 103914075 A CN103914075 A CN 103914075A CN 201310687626 A CN201310687626 A CN 201310687626A CN 103914075 A CN103914075 A CN 103914075A
- Authority
- CN
- China
- Prior art keywords
- ratio
- unmanned vehicle
- range information
- distance information
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000004888 barrier function Effects 0.000 claims description 73
- 238000002604 ultrasonography Methods 0.000 claims description 19
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Abstract
The invention discloses a control method and device for an unmanned aerial vehicle. The control method comprises the steps that information of a first distance between an obstacle arranged above the unmanned aerial vehicle and the unmanned aerial vehicle in the current state in the vertically-upward direction and information of a second distance between an obstacle arranged below the unmanned aerial vehicle and the unmanned aerial vehicle in the current state in the vertically-downward direction are obtained; whether a ratio of the information of the first distance to the information of the second distance meets a preset condition or not is judged; if the ratio of the information of the first distance to the information of the second distance does not meet the preset condition, the flight height of the unmanned aerial vehicle is adjusted, so that the ratio of the information of the first distance to the information of the second distance obtained after the flight height is adjusted meets the preset condition. By the adoption of the mode, the flight height of the unmanned aerial vehicle can be controlled only according to the information of the first distance and the information of the second distance, and the control method is simple and easy to implement; meanwhile, the phenomenon that the unmanned aerial vehicle collides with the obstacle arranged above the unmanned aerial vehicle or the obstacle arranged below the unmanned aerial vehicle in the flight process can be avoided, and the flight capacity of the unmanned aerial vehicle in a complex environment is further improved.
Description
Technical field
The present invention relates to unmanned vehicle technical field, particularly relate to a kind of control method and device of unmanned vehicle.
Background technology
Unmanned vehicle is a kind of take wireless remote control or self programmed control as main not manned vehicle.In the time of unmanned vehicle free flight, need to control the flying height of unmanned vehicle to prevent vertically collision obstacle of unmanned vehicle.
A kind of method of existing unmanned vehicle control flying height is: the flying height overhead of obtaining unmanned vehicle by increasing sensor in aircraft bottom.Shortcoming is: under actual conditions, when the flight environment of vehicle more complicated of aircraft, while having barrier as aircraft top, aircraft cannot detect the barrier of top, may cause aircraft and barrier to collide.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of control method and device of unmanned vehicle, can realize unmanned vehicle and avoid top and the barrier of below.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of control method of unmanned vehicle is provided, and the method comprises: S1: obtain respectively unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier; S2: whether the ratio that judges the first range information and second distance information meets predetermined condition; If the ratio of the first range information and second distance information does not meet predetermined condition, at step S3: adjust the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information meets predetermined condition.
Wherein, step S2 comprises: whether the ratio that judges the first range information and second distance information equals predetermined ratio.
Wherein, step S3 comprises: if the ratio of the first range information and second distance information is greater than predetermined ratio, promote the flying height of unmanned vehicle, if the ratio of the first range information and second distance information is less than predetermined ratio, reduce the flying height of unmanned vehicle.
Wherein, step S2 comprises: whether the ratio that judges the first range information and second distance information is between the first predetermined ratio and the second predetermined ratio, and wherein the first predetermined ratio is greater than the second predetermined ratio.
Wherein, step S3 comprises: if the ratio of the first range information and second distance information is greater than the first predetermined ratio, promote the flying height of unmanned vehicle, if the ratio of the first range information and second distance information is less than the second predetermined ratio, reduce the flying height of unmanned vehicle.
Wherein, step S1 comprises: obtain the top height value of barrier and the atmospheric pressure value at barrier place, top; Obtain the atmospheric pressure value of unmanned vehicle under current state, and calculate the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under current state, top barrier and barrier place, top.
Wherein, step S1 comprises: obtain from unmanned vehicle and launched for first hyperacoustic the first launch time along direction straight up, obtain the first ultrasound wave and touch top obstacle back reflection received the first time of reception of returning, it is poor to calculate very first time between the first launch time and the first time of reception, and poor and first hyperacoustic velocity of propagation is calculated the first range information according to the very first time; Obtain from unmanned vehicle and launched for second hyperacoustic the second launch time along direction straight down, obtain the second ultrasound wave and touch below barrier back reflection received the second time of reception of returning, calculate the second mistiming between the second launch time and the second time of reception, and according to the second mistiming and second hyperacoustic velocity of propagation calculating second distance information.
For solving the problems of the technologies described above, another technical solution used in the present invention is: the control device that a kind of unmanned vehicle is provided, this device comprises: the first acquisition module, for obtain unmanned vehicle under current state along direction straight up and above the first range information between barrier; The second acquisition module, for obtain unmanned vehicle under current state along direction straight down and below second distance information between barrier; Whether judge module, meet predetermined condition for the ratio that judges the second distance information that the first range information that the first acquisition module obtains and the second acquisition module obtain; Control module, for in the time that judge module judges that the ratio of the first range information and second distance information does not meet predetermined condition, adjust the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information meets predetermined condition.
Wherein, whether judge module equals predetermined ratio for the ratio of sentencing the first range information and second distance information.
Wherein, in the time that judge module judges that the ratio of the first range information and second distance information is greater than predetermined ratio, control module promotes the flying height of unmanned vehicle; In the time that judge module judges that the ratio of the first range information and second distance information is less than predetermined ratio, control module reduces the flying height of unmanned vehicle.
Wherein, whether judge module is for the ratio that judges the first range information and second distance information between the first predetermined ratio and the second predetermined ratio, and wherein the first predetermined ratio is greater than the second predetermined ratio.
Wherein, in the time that judge module judges that the ratio of the first range information and second distance information is greater than the first predetermined ratio, control module promotes the flying height of unmanned vehicle; In the time that judge module judges that the ratio of the first range information and second distance information is less than the second predetermined ratio, control module reduces the flying height of unmanned vehicle.
Wherein, the first acquisition module is used for obtaining the height value of top barrier, atmospheric pressure value and the atmospheric pressure value of unmanned vehicle under current state at barrier place, top, and calculates the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under current state, top barrier and barrier place, top.
Wherein, the first acquisition module is used for obtaining from unmanned vehicle launched for first hyperacoustic the first launch time along direction straight up, obtain the first ultrasound wave and touch top obstacle back reflection received the first time of reception of returning, it is poor to calculate very first time between the first launch time and the first time of reception, and poor and first hyperacoustic velocity of propagation is calculated the first range information according to the very first time; The second acquisition module is used for obtaining from unmanned vehicle launched for second hyperacoustic the second launch time along direction straight down, obtain the second ultrasound wave and touch below obstacle back reflection received the second time of reception of returning, calculate the second mistiming between the second launch time and the second time of reception, and according to the second mistiming and second hyperacoustic velocity of propagation calculating second distance information.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention by obtain respectively unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier, in the time judging that the ratio of the first range information and second distance information does not meet predetermined condition, adjust the flying height of unmanned vehicle.By the way, the present invention only needs can control according to the first range information and second distance information the flying height of unmanned flight, and control method is simple, be easy to realize.Meanwhile, the present invention can avoid unmanned vehicle in flight course, collide above or below barrier, further strengthened the flight performance of unmanned vehicle under complex environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control device of the unmanned vehicle of the embodiment of the present invention;
Fig. 2 is the process flow diagram of the control method of the unmanned vehicle of first embodiment of the invention;
Fig. 3 is the process flow diagram of the control method of the unmanned vehicle of second embodiment of the invention;
Fig. 4 is the mathematical description figure of a kind of application scenarios of unmanned vehicle control method in Fig. 3;
Fig. 5 is the process flow diagram of the control method of the unmanned vehicle of third embodiment of the invention.
Embodiment
In the middle of instructions and claims, use some vocabulary to censure specific assembly.One of skill in the art should understand, and same assembly may be called with different nouns by manufacturer.This specification and claims book is not used as distinguishing the mode of assembly with the difference of title, but the difference in function is used as the benchmark of distinguishing with assembly.Below in conjunction with drawings and Examples, the present invention is described in detail.
Fig. 1 is the structural representation of the control device of the unmanned vehicle of the embodiment of the present invention.As shown in Figure 1, this device comprises: the first acquisition module 10, the second acquisition module 20, judge module 30 and control module 40.
The first acquisition module 10 for obtain unmanned vehicle under current state along direction straight up with above the first range information between barrier, the second acquisition module 20 for obtain unmanned vehicle under current state edge straight down direction and below second distance information between barrier.
In the present embodiment, the first acquisition module 10 launched for first hyperacoustic the first launch time for obtaining from unmanned vehicle along direction straight up, obtain the first ultrasound wave and touch top obstacle back reflection received the first time of reception of returning, it is poor to calculate very first time between the first launch time and the first time of reception, and poor and first hyperacoustic velocity of propagation is calculated the first range information according to the very first time.The second acquisition module 20 launched for second hyperacoustic the second launch time for obtaining from unmanned vehicle along direction straight down, obtain the second ultrasound wave and touch below obstacle back reflection received the second time of reception of returning, calculate the second mistiming between the second launch time and the second time of reception, and according to the second mistiming and second hyperacoustic velocity of propagation calculating second distance information.
Furthermore, the first acquisition module 10 and the second acquisition module 20 can be ultrasonic sensor, specifically, a probe of ultrasonic sensor sends frequency and is approximately 300-500KHz(KHz) ultrasound wave, when touching, ultrasound wave can after the barrier of reflection supersonic wave, reflect, after reflection wave is received by another probe of same probe or ultrasonic sensor, ultrasonic sensor is measured transmitting ultrasound wave and is received the mistiming between reflection wave, then calculate the distance between ultrasonic sensor and barrier according to hyperacoustic velocity of propagation in air (being generally 340 meter per seconds).In addition, in order to improve the precision of measurement, the first acquisition module 10 and the second acquisition module 20 can also select to estimate according to environment temperature the ultrasonic sensor of the ultrasonic propagation velocity in current environment.
In the present embodiment, two ultrasonic sensors are vertically symmetrical arranged, and the detection side of two ultrasonic sensors is to the yaw axis (yaw) that is parallel to unmanned vehicle, thereby while making two ultrasonic sensors be assembled on unmanned vehicle, can not be subject to blocking of unmanned vehicle parts and emit ultrasonic acoustic waves in the space of unmanned vehicle above and below.Those skilled in the art will appreciate that two ultrasonic sensors can be two resolution elements, also can be integrated in identity element, this is not restricted.
Judge module 30 is connected with the first acquisition module 10 and the second acquisition module 20 respectively, whether meets predetermined condition for the ratio that judges the second distance information that the first range information that the first acquisition module 10 obtains and the second acquisition module 20 obtain.Specifically, whether judge module 30 equals predetermined ratio for the ratio that judges the first range information and second distance information, or whether between the first predetermined ratio and the second predetermined ratio, wherein the first predetermined ratio is greater than the second predetermined ratio for the ratio that judges the first range information and second distance information.
Control module 40 is connected with judge module 30, for in the time that judge module 30 judges that the ratio of the first range information and second distance information does not meet predetermined condition, adjust the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information meets predetermined condition.Specifically, accept above-mentioned, in the time that judge module 30 judges that the ratio of the first range information and second distance information is greater than predetermined ratio, control module 40 promotes the flying height of unmanned vehicle, in the time that judge module 30 judges that the ratio of the first range information and second distance information is less than predetermined ratio, control module 40 reduces the flying height of unmanned vehicle; Or in the time that judge module 30 judges that the ratio of the first range information and second distance information is greater than the first predetermined ratio, control module 40 promotes the flying height of unmanned vehicle, in the time that judge module 30 judges that the ratio of the first range information and second distance information is less than the second predetermined ratio, control module 40 reduces the flying height of unmanned vehicle.
In other embodiments, the first acquisition module 10 is for obtaining the height value, atmospheric pressure value and the atmospheric pressure value of unmanned vehicle under current state at barrier place, top of top barrier, and calculates the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under current state, top barrier and barrier place, top.Specifically, the first acquisition module 10 can be barometer, and barometer obtains the first range information h between unmanned vehicle and top barrier according to following formula
now:
Wherein, H represents the height value of top barrier, and P represents the atmospheric pressure value at barrier place, top, and H, P are given value, p
nowfor the atmospheric pressure value of unmanned vehicle under current state, p
nowcan directly obtain by reading barometrical reading, therefore can draw the first range information h of unmanned vehicle and top barrier
now.
It is noted that the mode of utilizing atmospheric pressure value to calculate the first range information is applicable to the scene that remains unchanged of height of top barrier herein, for example, in the consistent room of roof height.
In addition, in the time that the height of below barrier is consistent, the second acquisition module 20 can be also barometer, obtain the second distance information between unmanned vehicle and below barrier by barometer, method is obtained the first range information between unmanned vehicle and top barrier with the first acquisition module 10 by barometer, is not described in detail in this.
Fig. 2 is the process flow diagram of the control method of the unmanned vehicle of first embodiment of the invention.Should be noted, if there is identical in fact result, method of the present invention is not limited with the flow sequence shown in Fig. 2.As shown in Figure 2, the method comprises the steps:
Step S101: the first acquisition module 10 obtain unmanned vehicle under current state along direction straight up and above the first range information between barrier.
In step S101, the first acquisition module 10 can be ultrasonic sensor.Specifically, the first acquisition module 10 is launched ultrasound wave along direction straight up, after above ultrasound wave is encountered, barrier is reflected back, obtain transmitting ultrasound wave and receive the mistiming between reflection wave, then can obtain the first range information between unmanned vehicle and top barrier according to hyperacoustic velocity of propagation in air and this mistiming.
Step S102: the second acquisition module 20 obtain unmanned vehicle under current state along direction straight down and below second distance information between barrier.
In step S102, the second acquisition module 20 can be ultrasonic sensor.Specifically, the second acquisition module 20 is launched ultrasound wave along direction straight down, after below ultrasound wave is encountered, barrier is reflected back, obtain transmitting ultrasound wave and receive the mistiming between reflection wave, then can obtain the second distance information between unmanned vehicle and below barrier according to hyperacoustic velocity of propagation in air and this mistiming.
Step S103: judge module 30 judges whether the ratio of the first range information and second distance information meets predetermined condition.
In step S103, judge module 30 judges that whether the ratio of the first range information and second distance information meets predetermined condition, if meet predetermined condition, performs step S101; If do not meet predetermined condition, perform step S104.
Step S104: control module 40 is adjusted the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information meets predetermined condition, then returns to step S101.
In step S104, in the time that judge module 30 in step S103 judges that the ratio of the first range information and second distance information does not meet predetermined condition, control module 40 can be by promoting or reduce the flying height of unmanned vehicle, to make the first range information after flying height adjustment and the ratio of second distance information meet predetermined condition, thereby avoid unmanned vehicle barrier above or below collision in the process of flight.
By above-mentioned embodiment, the control method of the unmanned vehicle of first embodiment of the invention by obtain respectively unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier, in the time judging that the ratio of the first range information and second distance information does not meet predetermined condition, adjust the flying height of unmanned vehicle.Compared with prior art, the present invention only needs can control according to the first range information and second distance information the flying height of unmanned flight, and control method is simple, be easy to realize.Meanwhile, the present invention can avoid unmanned vehicle in flight course, collide above or below barrier, further strengthened the flight performance of unmanned vehicle in complex environment.
Fig. 3 is the process flow diagram of the control method of the unmanned vehicle of second embodiment of the invention.Should be noted, if there is identical in fact result, method of the present invention is not limited with the flow sequence shown in Fig. 3.As shown in Figure 3, the method comprises the steps:
Step S201: the first acquisition module 10 obtain unmanned vehicle under current state along direction straight up and above the first range information between barrier.
In step S201, first the first acquisition module 10 obtains the top height value of barrier and the atmospheric pressure value at barrier place, top, then obtain the atmospheric pressure value of unmanned vehicle under current state, then calculate the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under current state, top barrier and barrier place, top.Wherein, the first acquisition module 10 can be barometer.
Step S202: the second acquisition module 20 obtain unmanned vehicle under current state along direction straight down and below second distance information between barrier.
In the present embodiment, the step S102 in step S202 and Fig. 2 is similar, does not repeat them here.
Step S203: judge module 30 judges whether the ratio of the first range information and second distance information equals predetermined ratio.
In step S203, judge module 30 judges whether the ratio of the first range information and second distance information equals predetermined ratio, if equal predetermined ratio, performs step S201, if be not equal to predetermined ratio, performs step S204.Wherein, predetermined ratio can be set in the time that flow process starts, and its value can be set arbitrarily according to actual demand, for example, can be set to 2.
Step S204: judge module 30 further judges whether the ratio of the first range information and second distance information is greater than predetermined ratio.
In step S204, after judge module 30 in step S203 judges that the ratio of the first range information and second distance information is not equal to predetermined ratio, judge module 30 further judges whether the ratio of the first range information and second distance information is greater than predetermined ratio, if be greater than predetermined ratio, execution step S205, if be less than predetermined ratio, execution step S206.
Step S205: control module 40 promotes the flying height of unmanned vehicle, then returns to step S201.
In step S205, in the time that judge module 30 in step S204 judges that the ratio of the first range information and second distance information is greater than predetermined ratio, control module 40 promotes the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information equals predetermined ratio.
Step S206: control module 40 reduces the flying height of unmanned vehicle, then returns to step S201.
In step S206, in the time that judge module 30 in step S204 judges that the ratio of the first range information and second distance information is less than predetermined ratio, control module 40 reduces the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information equals predetermined ratio.
Fig. 4 is the mathematical description figure of a kind of application scenarios of unmanned vehicle control method in Fig. 3.As shown in Figure 4, in this application scenarios, unmanned vehicle is in indoor flight, and indoor have ground, ceiling and a desk.Wherein, x direction of principal axis is horizontal flight direction, and y direction of principal axis is vertical short transverse, and the height y=0(on ground is also that ground is x axle), the height of ceiling is y=y
0(be also that distance between ceiling and ground is y
0), the height of table top of indoor desk is y=y
1(be also that distance between desktop and ground is y
1).
Setting predetermined ratio is 2, and when unmanned vehicle is in the time that desk flies, the control module 40 in unmanned vehicle is adjusted flying height, take make unmanned vehicle that the first acquisition module 10 obtains along the first range information between direction and ceiling straight up as
unmanned vehicle that the second acquisition module 20 obtains along the second distance information between direction and ground is straight down
thereby the ratio that guarantees the first range information and second distance information is predetermined ratio 2.
In the time that unmanned vehicle flies through desk face, because the height of desk face is y
1, the second distance information that the second acquisition module 20 obtains becomes
the first range information that the first acquisition module 10 obtains remains unchanged and (is also
), judge module 30 judges that the ratio of the first range information and second distance information is greater than predetermined ratio 2, now control module 40 promotes the flying height of unmanned vehicle, and the first range information is decreased to
second distance information increases to
thereby the ratio that guarantees the first range information and second distance information is predetermined ratio 2, avoid unmanned vehicle to collide desk in the process of flight.
In like manner, if be provided with crossbeam (not shown) straight down on ceiling, and crossbeam is y away from the bottom surface of ceiling and the distance on ground
2,, in the time that unmanned vehicle flies through crossbeam, the first range information that the first acquisition module 10 obtains becomes
second distance Information preservation that the second acquisition module 20 obtains is constant (is also
), judge module judges that the ratio of the first range information and second distance information is less than predetermined ratio 2, now control module 40 reduces the flying height of unmanned vehicle, and the first range information is increased to
second distance information reduction extremely
thereby the ratio that guarantees the first range information and second distance information is predetermined ratio 2, avoid unmanned vehicle collision beam in the process of flight.
By above-mentioned embodiment, the control method of the unmanned vehicle of second embodiment of the invention by obtain respectively unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier, in the time judging that the ratio of the first range information and second distance information is greater than predetermined ratio, promote the flying height of unmanned vehicle, in the time judging that the ratio of the first range information and second distance information is less than predetermined ratio, reduce the flying height of unmanned vehicle.By the way, the present invention only needs can control according to the first range information and second distance information the flying height of unmanned flight, and control method is simple, be easy to realize.Meanwhile, the present invention can avoid unmanned vehicle in flight course, collide above or below barrier, further strengthened the flight performance of unmanned vehicle in complex environment.
Fig. 5 is the process flow diagram of the control method of the unmanned vehicle of third embodiment of the invention.Should be noted, if there is identical in fact result, method of the present invention is not limited with the flow sequence shown in Fig. 5.As shown in Figure 5, the method comprises the steps:
Step S301: the first acquisition module 10 obtain unmanned vehicle under current state along direction straight up and above the first range information between barrier.
In the present embodiment, the step S201 in step S301 and Fig. 3 is similar, does not repeat them here.
Step S302: the second acquisition module 20 obtain unmanned vehicle under current state along direction straight down and below second distance information between barrier.
In the present embodiment, the step S202 in step S302 and Fig. 3 is similar, does not repeat them here.
Step S303: whether the ratio that judge module 30 judges the first range information and second distance information is between the first predetermined ratio and the second predetermined ratio, and wherein the first predetermined ratio is greater than the second predetermined ratio.
In step S303, the ratio that judge module 30 judges the first range information and second distance information whether between the first predetermined ratio and the second predetermined ratio, if in, perform step S301, if not in, perform step S304.Wherein, the first predetermined ratio and the second predetermined ratio can be set in the time that flow process starts, and its value can be set arbitrarily according to actual demand, only need to meet the first predetermined ratio and are greater than the second predetermined ratio.The 3rd embodiment is compared with the second embodiment, whether its Rule of judgment extends between the first predetermined ratio and the second predetermined ratio from whether equaling predetermined ratio, thereby reduce the frequency that unmanned vehicle flying height is adjusted, the demand of more realistic application.
It will be appreciated by those skilled in the art that, in the time that the ratio of the first range information and second distance information equals the first predetermined ratio or the second predetermined ratio, the ratio of the first range information and second distance information meets the condition between the first predetermined ratio and the second predetermined ratio.
Step S304: judge module 30 judges whether the ratio of the first range information and second distance information is greater than the first predetermined ratio.
In step S304, when ratio that judge module 30 in step S303 judges the first range information and second distance information is not after between the first predetermined ratio and the second predetermined ratio, judge module 30 further judges whether the ratio of the first range information and second distance information is greater than the first predetermined ratio, if be greater than the first predetermined ratio, execution step S305, if be less than the first predetermined ratio, execution step S306.
Step S305: control module 40 promotes the flying height of unmanned vehicle, then returns to step S301.
In step S305, in the time that judge module 30 in step S304 judges that the ratio of the first range information and second distance information is greater than the first predetermined ratio, control module 40 promotes the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information is between the first predetermined ratio and the second predetermined ratio.
Step S306: control module 40 reduces the flying height of unmanned vehicle, then returns to step S301.
In step S306, the ratio that judges the first range information and second distance information when judge module 30 in step S303 is not between the first predetermined ratio and the second predetermined ratio, in step S304, judge module 30 further judges when the ratio of the first range information and second distance information is less than the first predetermined ratio, can infer, now the ratio of the first range information and second distance information is less than the second predetermined ratio, control module 40 reduces the flying height of unmanned vehicle, so that the ratio of the first range information after flying height adjustment and second distance information is between the first predetermined ratio and the second predetermined ratio.
By above-mentioned embodiment, the control method of the unmanned vehicle of third embodiment of the invention by obtain respectively unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier, in the time judging that the ratio of the first range information and second distance information is greater than the first predetermined ratio, promote the flying height of unmanned vehicle, in the time judging that the ratio of the first range information and second distance information is less than the second predetermined ratio, reduce the flying height of unmanned vehicle, wherein the first predetermined ratio is greater than the second predetermined ratio.By the way, the present invention only needs can control according to the first range information and second distance information the flying height of unmanned flight, and control method is simple, be easy to realize.Meanwhile, the present invention can avoid unmanned vehicle in flight course, collide above or below barrier, further strengthened the flight performance of unmanned vehicle in complex environment.
The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (14)
1. a control method for unmanned vehicle, is characterized in that, described method comprises:
S1: obtain respectively described unmanned vehicle under current state along direction straight up with above the first range information between barrier and edge straight down direction and below second distance information between barrier;
S2: whether the ratio that judges described the first range information and described second distance information meets predetermined condition;
If the ratio of described the first range information and described second distance information does not meet described predetermined condition, at step S3: adjust the flying height of described unmanned vehicle, so that described the first range information after flying height adjustment and the ratio of described second distance information meet described predetermined condition.
2. method according to claim 1, is characterized in that, described step S2 comprises:
Whether the ratio that judges described the first range information and described second distance information equals predetermined ratio.
3. method according to claim 2, is characterized in that, described step S3 comprises:
If the ratio of described the first range information and described second distance information is greater than described predetermined ratio, promote the described flying height of described unmanned vehicle,
If the ratio of described the first range information and described second distance information is less than described predetermined ratio, reduce the described flying height of described unmanned vehicle.
4. method according to claim 1, is characterized in that, described step S2 comprises:
Whether the ratio that judges described the first range information and described second distance information is between the first predetermined ratio and the second predetermined ratio, and wherein said the first predetermined ratio is greater than described the second predetermined ratio.
5. method according to claim 4, is characterized in that, described step S3 comprises:
If the ratio of described the first range information and described second distance information is greater than described the first predetermined ratio, promote the described flying height of described unmanned vehicle,
If the ratio of described the first range information and described second distance information is less than described the second predetermined ratio, reduce the described flying height of described unmanned vehicle.
6. method according to claim 1, is characterized in that, described step S1 comprises:
Obtain the height value of described top barrier and the atmospheric pressure value at barrier place, described top;
Obtain the atmospheric pressure value of described unmanned vehicle under current state, and calculate described the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under described current state, described top barrier and barrier place, described top.
7. method according to claim 1, is characterized in that, described step S1 comprises:
Obtain from described unmanned vehicle and launched for first hyperacoustic the first launch time along direction straight up, obtain described the first ultrasound wave and touch described top obstacle back reflection received the first time of reception of returning, it is poor to calculate very first time between described the first launch time and described the first time of reception, and poor and described first hyperacoustic velocity of propagation is calculated described the first range information according to the described very first time;
Obtain from described unmanned vehicle and launched for second hyperacoustic the second launch time along direction straight down, obtain described the second ultrasound wave and touch described below barrier back reflection received the second time of reception of returning, calculate the second mistiming between described the second launch time and described the second time of reception, and calculate described second distance information according to described the second mistiming and described second hyperacoustic velocity of propagation.
8. a control device for unmanned vehicle, is characterized in that, described device comprises:
The first acquisition module, for obtain described unmanned vehicle under current state along direction straight up and above the first range information between barrier;
The second acquisition module, for obtain described unmanned vehicle under current state along direction straight down and below second distance information between barrier;
Whether judge module, meet predetermined condition for the ratio that judges the described second distance information that described the first range information that described the first acquisition module obtains and described the second acquisition module obtain;
Control module, for in the time that described judge module judges that the ratio of described the first range information and described second distance information does not meet described predetermined condition, adjust the flying height of described unmanned vehicle, so that described the first range information after flying height adjustment and the ratio of described second distance information meet described predetermined condition.
9. device according to claim 8, is characterized in that, described judge module is for judging whether the ratio of described the first range information and described second distance information equals predetermined ratio.
10. device according to claim 9, it is characterized in that, in the time that described judge module judges that the ratio of described the first range information and described second distance information is greater than described predetermined ratio, described control module promotes the described flying height of described unmanned vehicle; In the time that described judge module judges that the ratio of described the first range information and described second distance information is less than described predetermined ratio, described control module reduces the described flying height of described unmanned vehicle.
11. devices according to claim 8, it is characterized in that, whether described judge module is for the ratio that judges described the first range information and described second distance information between the first predetermined ratio and the second predetermined ratio, and wherein said the first predetermined ratio is greater than described the second predetermined ratio.
12. devices according to claim 11, it is characterized in that, in the time that described judge module judges that the ratio of described the first range information and described second distance information is greater than described the first predetermined ratio, described control module promotes the described flying height of described unmanned vehicle; In the time that described judge module judges that the ratio of described the first range information and described second distance information is less than described the second predetermined ratio, described control module reduces the described flying height of described unmanned vehicle.
13. devices according to claim 8, it is characterized in that, described the first acquisition module is used for obtaining atmospheric pressure value and the atmospheric pressure value of described unmanned vehicle under current state at the height value of described top barrier, barrier place, described top, and calculates described the first range information according to the atmospheric pressure value at the height value of the atmospheric pressure value under described current state, described top barrier and barrier place, described top.
14. devices according to claim 8, it is characterized in that, described the first acquisition module is used for obtaining from described unmanned vehicle launched for first hyperacoustic the first launch time along direction straight up, obtain described the first ultrasound wave and touch described top obstacle back reflection received the first time of reception of returning, it is poor to calculate very first time between described the first launch time and described the first time of reception, and poor and described first hyperacoustic velocity of propagation is calculated described the first range information according to the described very first time; The second acquisition module is used for obtaining from described unmanned vehicle launches described second hyperacoustic the second launch time along direction straight down, obtain described the second ultrasound wave and touch described below obstacle back reflection received the second time of reception of returning, calculate the second mistiming between described the second launch time and described the second time of reception, and calculate described second distance information according to described the second mistiming and described second hyperacoustic velocity of propagation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310687626.XA CN103914075B (en) | 2013-12-13 | 2013-12-13 | Control method and device for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310687626.XA CN103914075B (en) | 2013-12-13 | 2013-12-13 | Control method and device for unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103914075A true CN103914075A (en) | 2014-07-09 |
| CN103914075B CN103914075B (en) | 2017-05-03 |
Family
ID=51039835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310687626.XA Expired - Fee Related CN103914075B (en) | 2013-12-13 | 2013-12-13 | Control method and device for unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103914075B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105259915A (en) * | 2015-10-29 | 2016-01-20 | 桂林创研科技有限公司 | Method for controlling unmanned aerial vehicle |
| CN105353771A (en) * | 2015-12-11 | 2016-02-24 | 谭圆圆 | Method and device for controlling unmanned aerial vehicle |
| CN106093455A (en) * | 2014-04-10 | 2016-11-09 | 深圳市大疆创新科技有限公司 | The measuring method of the flight parameter of unmanned vehicle and device |
| CN106716284A (en) * | 2016-08-31 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method, device and system, aircraft, carrier and manipulator |
| WO2018014275A1 (en) * | 2016-07-21 | 2018-01-25 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system, and robot |
| CN107656529A (en) * | 2016-07-23 | 2018-02-02 | 深圳曼塔智能科技有限公司 | Unmanned plane and the fixed high control method of unmanned plane |
| US10401375B2 (en) | 2014-04-10 | 2019-09-03 | SZ DJI Technology Co., Ltd. | Method and device for measuring flight parameters of an unmanned aerial vehicle |
| CN111506109A (en) * | 2014-12-31 | 2020-08-07 | 深圳市大疆创新科技有限公司 | Selective processing of sensor data |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| CN201727964U (en) * | 2010-07-04 | 2011-02-02 | 中南林业科技大学 | Toy helicopter with collision prevention function |
| CN102339063A (en) * | 2011-07-14 | 2012-02-01 | 沈阳航空航天大学 | Autonomous taking off and landing control method for indoor airship |
| EP2515147A2 (en) * | 2011-04-20 | 2012-10-24 | Accenture Global Services Limited | Capturing environmental information |
| CN202605732U (en) * | 2012-03-30 | 2012-12-19 | 田瑜 | Model plane |
| CN102981509A (en) * | 2012-12-18 | 2013-03-20 | 哈尔滨伟方智能科技开发有限责任公司 | Autopilot for fixed-wing and four-rotor unmanned aerial vehicles |
| CN203291517U (en) * | 2013-05-10 | 2013-11-20 | 田瑜 | Model airplane |
-
2013
- 2013-12-13 CN CN201310687626.XA patent/CN103914075B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201727964U (en) * | 2010-07-04 | 2011-02-02 | 中南林业科技大学 | Toy helicopter with collision prevention function |
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| EP2515147A2 (en) * | 2011-04-20 | 2012-10-24 | Accenture Global Services Limited | Capturing environmental information |
| CN102339063A (en) * | 2011-07-14 | 2012-02-01 | 沈阳航空航天大学 | Autonomous taking off and landing control method for indoor airship |
| CN202605732U (en) * | 2012-03-30 | 2012-12-19 | 田瑜 | Model plane |
| CN102981509A (en) * | 2012-12-18 | 2013-03-20 | 哈尔滨伟方智能科技开发有限责任公司 | Autopilot for fixed-wing and four-rotor unmanned aerial vehicles |
| CN203291517U (en) * | 2013-05-10 | 2013-11-20 | 田瑜 | Model airplane |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10935562B2 (en) | 2014-04-10 | 2021-03-02 | SZ DJI Technology Co., Ltd. | Method and device for measuring flight parameters of an unmanned aerial vehicle |
| CN106093455A (en) * | 2014-04-10 | 2016-11-09 | 深圳市大疆创新科技有限公司 | The measuring method of the flight parameter of unmanned vehicle and device |
| CN106093455B (en) * | 2014-04-10 | 2019-01-15 | 深圳市大疆创新科技有限公司 | The measurement method and device of the flight parameter of unmanned vehicle |
| US10401375B2 (en) | 2014-04-10 | 2019-09-03 | SZ DJI Technology Co., Ltd. | Method and device for measuring flight parameters of an unmanned aerial vehicle |
| CN111506109B (en) * | 2014-12-31 | 2023-08-25 | 深圳市大疆创新科技有限公司 | Selective processing of sensor data |
| CN111506109A (en) * | 2014-12-31 | 2020-08-07 | 深圳市大疆创新科技有限公司 | Selective processing of sensor data |
| CN105259915A (en) * | 2015-10-29 | 2016-01-20 | 桂林创研科技有限公司 | Method for controlling unmanned aerial vehicle |
| CN105353771A (en) * | 2015-12-11 | 2016-02-24 | 谭圆圆 | Method and device for controlling unmanned aerial vehicle |
| CN105353771B (en) * | 2015-12-11 | 2017-12-01 | 谭圆圆 | Unmanned vehicle control method and control device |
| WO2018014275A1 (en) * | 2016-07-21 | 2018-01-25 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system, and robot |
| CN107656529A (en) * | 2016-07-23 | 2018-02-02 | 深圳曼塔智能科技有限公司 | Unmanned plane and the fixed high control method of unmanned plane |
| CN106716284A (en) * | 2016-08-31 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method, device and system, aircraft, carrier and manipulator |
| CN106716284B (en) * | 2016-08-31 | 2019-09-24 | 深圳市大疆创新科技有限公司 | Control method, device and system, aircraft, carrier and manipulation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103914075B (en) | 2017-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103914075A (en) | Control method and device for unmanned aerial vehicle | |
| CN106054134B (en) | A kind of method for rapidly positioning based on TDOA | |
| US9804022B2 (en) | System and method for hitch angle detection | |
| CN106405500B (en) | Intelligent robot follower method, system for tracking and the emitter for following | |
| CN103257348B (en) | Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof | |
| CN105700550A (en) | Unmanned plane and flight control method and system therefor | |
| US10935378B2 (en) | System and method for angle measurement | |
| CN105203996A (en) | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof | |
| CN101915917B (en) | Ultrasonic ranging device | |
| CN104062633A (en) | Indoor positioning system and method based on ultrasonic waves | |
| US10078069B2 (en) | Device for detecting change in underground medium | |
| KR20110012584A (en) | Apparatus and method for estimating position by ultrasonic signal | |
| CN107607943A (en) | The high method of survey of delay Doppler radar altimeter based on interferometric phase auxiliary | |
| CN104656083A (en) | Ultrasonic distance measuring system having temperature compensation function and adopting pulse counting | |
| KR20140124145A (en) | Apparatus and Method for compensating installment angle of multi radar for vehicle | |
| CN105738905A (en) | Indoor positioning system and method for reducing blind areas | |
| CN104678400A (en) | Ultrasonic ranging system employing pulse counting | |
| KR102300646B1 (en) | Method for signal compensation using absorption coefficient and signal compensation apparatus using thereof | |
| US20210111816A1 (en) | Rss signal correction method | |
| Averyanova et al. | Connection of reflected radar signal with liquid-hydrometeor deformation rate | |
| CN105203075A (en) | Radio altimeter data fusion height measuring system and method | |
| CN106950983A (en) | Unmanned vehicle barrier-avoiding method and device | |
| CN204228953U (en) | A kind of measuring system determining locus, buildings monitoring point | |
| EP3623841A1 (en) | Object detection device | |
| KR101742126B1 (en) | Apparatus for controlling measuring an altitude and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |