CN104834307A - Control method and control device of unmanned aerial vehicle - Google Patents
Control method and control device of unmanned aerial vehicle Download PDFInfo
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- CN104834307A CN104834307A CN201510199091.0A CN201510199091A CN104834307A CN 104834307 A CN104834307 A CN 104834307A CN 201510199091 A CN201510199091 A CN 201510199091A CN 104834307 A CN104834307 A CN 104834307A
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Abstract
The invention provides a control method of a unmanned aerial vehicle, comprising the steps of dividing the flying areas of the unmanned aerial vehicle; acquiring the position parameter of the unmanned aerial vehicle; determining the flying area of the unmanned aerial vehicle based on the position parameter of the unmanned aerial vehicle; determining the flying mode of the unmanned aerial vehicle based on the flying area of the unmanned aerial vehicle; conducting flying control on the unmanned aerial vehicle by means of the flying mode of the unmanned aerial vehicle. The invention also provides a control device of the unmanned aerial vehicle. The control method and control device of unmanned aerial vehicle are advantageous in that the flying areas of the unmanned aerial vehicle are effectively divided, and different flying modes are adopted in different flying areas, and thereby work efficiency of the unmanned aerial vehicle can be improved.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, particularly relate to a kind of control method and control device of unmanned vehicle.
Background technology
Along with the development of science and technology, unmanned vehicle makes people can realize the function such as aeroplane photography and communication navigation easily, the moving range of user is transformed into three dimensions by the two-dimensional space on ground, the loss of manpower and material resources can also be effectively reduced simultaneously.
Existing unmanned vehicle can realize target detection or the target following of long-time, long distance, but its flight range may not carry out detailed setting, thus causes this unmanned vehicle may produce potential safety hazard when flying.
As unmanned vehicle fly into some concerning security matters or private area etc. non-surveyed area time, the dislike of the people in this region may be caused; When also flying into airport or wiring cad just like unmanned vehicle, the generation of aviation safety accident may be caused.The generation of these events all brings adverse influence to the development of unmanned vehicle industry.
For above-mentioned defect, the chamber of commerce of factory of unmanned vehicle is arranged its flight range on unmanned vehicle, and the regional assignment of significant discomfort being closed unmanned vehicle flight is no-fly region.But the division in above-mentioned simple no-fly region, cause unmanned vehicle cannot carry out good transition in safety zone and no-fly region, the emergency processing time is few, affects the development of unmanned flight's machine industry equally.
In order to improve target detection or the target following efficiency of unmanned vehicle, application number is that the patent of invention of the indoor autonomous navigation method of a kind of Micro Aerial Vehicle of 201410466305.1 discloses a kind of based on RGB-D camera and MEMS(Micro-Electro-Mechanical System, MEMS (micro electro mechanical system)) three-dimensional environment Real-time modeling set that inertial sensor merges, thus carries out the air navigation aid of the Micro Aerial Vehicle of path planning and tracing control in real time.But wherein also not to the dividing mode of flight range, and the good transition how unmanned vehicle realizes between safety zone and no-fly region is described.
Application number be 201410105284.0 the portable method for tracking target based on four-axle aircraft and system disclose the fast and control method of the aircraft that accuracy that is that follow the tracks of is high of a kind of execution speed.Wherein also not to the dividing mode of flight range, and the good transition how unmanned vehicle realizes between safety zone and no-fly region is described.
Therefore, be necessary control method and control device that a kind of unmanned vehicle is provided, to solve the problem existing for prior art.
Summary of the invention
The embodiment of the present invention provides a kind of and has carried out effective division to unmanned vehicle flight range, adopts control method and the control device of the unmanned vehicle of different offline mode, improve the work efficiency of unmanned vehicle at different flight ranges; With the transition that can not well realize between safety zone and no-fly region of the control method and control device that solve existing unmanned vehicle, cause the technical matters that the work efficiency of unmanned vehicle is lower.
For solving the problem, technical scheme provided by the invention is as follows:
The embodiment of the present invention provides a kind of control method of unmanned vehicle, and it comprises:
Divide the flight range of described unmanned vehicle, described flight range comprises no-fly region, flight warning region and safe flight region;
Obtain the location parameter of described unmanned vehicle;
According to the location parameter of described unmanned vehicle, determine the type of the flight range of described unmanned vehicle;
According to the type of the flight range of described unmanned vehicle, determine the offline mode of described unmanned vehicle; And
Use the offline mode of described unmanned vehicle, flight is carried out to described unmanned vehicle and controls.
In the control method of unmanned vehicle of the present invention, the type of the described flight range according to described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle is specially:
According to the flight range of described unmanned vehicle and the duty of described unmanned vehicle, determine the offline mode of described unmanned vehicle.
In the control method of unmanned vehicle of the present invention, described no-fly region comprises complete no-fly region and the no-fly region of condition;
The type of the described flight range according to described unmanned vehicle and the duty of described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in complete no-fly region and as described in unmanned vehicle be state of flight time, then described unmanned vehicle is switched to floating state, then carries out alarm operation and land shutdown;
As described in unmanned vehicle be in as described in complete no-fly region and as described in unmanned vehicle be non-state of flight or floating state time, then perform alarm operation shutdown of landing.
In the control method of unmanned vehicle of the present invention, the type of the described flight range according to described unmanned vehicle and the duty of described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in the no-fly region of condition and as described in unmanned vehicle be state of flight time, then described unmanned vehicle is switched to floating state, then carries out alarm operation, after setting-up time, perform and to make a return voyage operation;
As described in unmanned vehicle be in as described in the no-fly region of condition and as described in unmanned vehicle be non-state of flight or floating state time, then carry out alarm operation, after setting-up time, perform and to make a return voyage operation.
In the control method of unmanned vehicle of the present invention, the type of the described flight range according to described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in flight warning region time, then obtain the heading of described unmanned vehicle, as described in the heading of unmanned vehicle be away from as described in no-fly region, then carry out flight control according to flight directive; As described in the heading of unmanned vehicle be near as described in no-fly region, then described unmanned vehicle is switched to floating state, then carries out alarm operation, after setting-up time, perform operation of making a return voyage.
In the control method of unmanned vehicle of the present invention, when described unmanned vehicle is in described flight warning region, the flying height of described unmanned vehicle and flying speed are set to preset value.
In the control method of unmanned vehicle of the present invention, the type of the described flight range according to described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in safe flight region time, then according to flight directive carry out flight control.
In the control method of unmanned vehicle of the present invention, described flight warning region is arranged on described no-fly area periphery, and described safe flight region is arranged on the periphery in described flight warning region.
In the control method of unmanned vehicle of the present invention, the step of the location parameter of the described unmanned vehicle of described acquisition comprises:
The location parameter of described unmanned vehicle is periodically obtained by GPS; Or according to user instruction, obtained the location parameter of described unmanned vehicle by GPS.
The embodiment of the present invention also provides a kind of control device of unmanned vehicle, and it comprises:
Flight range divides module, and for dividing the flight range of described unmanned vehicle, described flight range comprises no-fly region, flight warning region and safe flight region;
Location parameter acquisition module, for obtaining the location parameter of described unmanned vehicle;
Flight range determination module, for the location parameter according to described unmanned vehicle, determines the type of the flight range of described unmanned vehicle;
Offline mode determination module, for the type of the flight range according to described unmanned vehicle, determines the offline mode of described unmanned vehicle; And
Flight control modules, for using the offline mode of described unmanned vehicle, carrying out flight to described unmanned vehicle and controlling.
Compared to control method and the control device of the unmanned vehicle of prior art, the control method of unmanned vehicle of the present invention and control device have carried out effective division to unmanned vehicle flight range, adopt different offline mode at different flight ranges, ensure that the flight safety of the flight range of unmanned vehicle; Solve the control method of existing unmanned vehicle and the transition problem that can not well realize between safety zone and no-fly region of control device.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the preferred embodiment of the control method of unmanned vehicle of the present invention;
Fig. 2 is the structural representation of the preferred embodiment of the control device of unmanned vehicle of the present invention;
Fig. 3 is the structural representation of the offline mode determination module of the preferred embodiment of the control device of unmanned vehicle of the present invention;
Fig. 4 is the process flow diagram of the control method of unmanned vehicle of the present invention and the specific embodiment of control device.
Embodiment
Please refer to graphic, wherein identical element numbers represents identical assembly, and principle of the present invention implements to illustrate in a suitable computing environment.The following description is based on the illustrated specific embodiment of the invention, and it should not be regarded as limiting the present invention not at other specific embodiment that this describes in detail.
The control method of unmanned vehicle of the present invention and control device can be arranged in existing unmanned vehicle, to be better controlled unmanned vehicle, improve the work efficiency of unmanned vehicle by dividing different flight ranges.
Please refer to Fig. 1, Fig. 1 is the process flow diagram of the preferred embodiment of the control method of unmanned vehicle of the present invention.The control method of the unmanned vehicle of this preferred embodiment comprises:
Step S101, divides the flight range of unmanned vehicle;
Step S102, obtains the location parameter of institute's unmanned vehicle;
Step S103, according to the location parameter of unmanned vehicle, determines the flight range of unmanned vehicle;
Step S104, according to the flight range of unmanned vehicle, determines the offline mode of unmanned vehicle;
Step S105, uses the offline mode of unmanned vehicle, carries out flight control unmanned vehicle.
The following detailed description of the idiographic flow of each step of the control method of the unmanned vehicle of this preferred embodiment.
In step S101, divide the flight range of unmanned vehicle, wherein flight range comprises complete no-fly region, the no-fly region of condition, flight warning region and safe flight region.
Here complete no-fly region refers to that airport or government offices forbid that unauthorized aircraft carries out the region of flying, and unmanned vehicle carries out flight operation in this region may cause aviation safety problem.The no-fly region of condition refers to the region that can open aircraft under certain condition and carry out flying, as when government offices are authorized, take photo by plane in the region of specific aircraft to government offices, at this moment the region of these government offices is the no-fly region of condition.Complete no-fly region and the no-fly region of condition can be changed according to the requirement of user.Flight warning region is the region that unmanned vehicle can unrestrictedly fly, but this flight warning region is arranged on the periphery in complete no-fly region or the no-fly region of condition, near complete no-fly region or the no-fly region of condition, therefore need to strengthen operating the detection of unmanned vehicle, avoid unmanned vehicle to fly in the no-fly region of condition as far as possible.Safe flight region is also the region that unmanned vehicle can unrestrictedly fly, and this safe flight region is away from complete no-fly region and the no-fly region of condition simultaneously, therefore can reduce the detection operating frequency of unmanned vehicle, to save the energy consumption of unmanned vehicle.Forward step S102 to subsequently.
In step s 102, unmanned vehicle periodically obtains the location parameter of unmanned vehicle by GPS; Certainly here in order to save the resource of communication, unmanned vehicle also according to user instruction, can obtain the location parameter of unmanned vehicle by GPS.Forward step S103 to subsequently.
In step s 103, the location parameter of the unmanned vehicle that unmanned vehicle obtains according to step S102, determines the type of the flight range of unmanned vehicle.The type of flight range here can be complete no-fly region, the no-fly region of condition divided in step S101, fly warning region or safe flight region.Forward step S104 to subsequently.
In step S104, unmanned vehicle, according to the type of the flight range of the unmanned vehicle obtained in step S103, determines the offline mode of unmanned vehicle.Be specially the duty of type according to the flight range of unmanned vehicle and unmanned vehicle, determine the offline mode of unmanned vehicle.
As unmanned vehicle is in complete no-fly region, and unmanned vehicle is in state of flight, then unmanned vehicle switches to floating state, then carries out alarm operation and lands shutdown.Because unmanned vehicle possibly cannot obtain the location parameter of self in time in flight course, therefore when unmanned vehicle flies into complete no-fly region by mistake, unmanned vehicle stops flight, the warning that right rear line sends current no-fly region is reminded or sends acousto-optic warning signal by unmanned vehicle directly to outside, to avoid the generation of aviation safety accident.Further in order to avoid the generation of aviation accident, this unmanned vehicle also directly can land shutdown, waits for that user reclaims on ground.
As unmanned vehicle is in complete no-fly region, and unmanned vehicle is in floating state or non-state of flight, if unmanned vehicle is in complete no-fly region startup etc., the warning that then unmanned vehicle sends current no-fly region directly to user is reminded or sends acousto-optic warning signal by unmanned vehicle directly to outside, to avoid the generation of aviation safety accident.Further in order to avoid the generation of aviation accident, this unmanned vehicle also directly can land shutdown, waits for that user reclaims on ground.
As unmanned vehicle be in the no-fly region of condition and unmanned vehicle is state of flight time, then unmanned vehicle switches to floating state, then sends the warning prompting in current no-fly region directly to user or sends acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
As unmanned vehicle be in the no-fly region of condition and unmanned vehicle be non-state of flight or floating state time, then unmanned vehicle directly to user send current no-fly region warning remind or send acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
As unmanned vehicle be in flight warning region time, then obtain the heading of unmanned vehicle, the heading as unmanned vehicle be away from complete no-fly region and the no-fly region of condition, then by the flight directive received carry out flight control.Heading as unmanned vehicle is near complete no-fly region and the no-fly region of condition, then unmanned vehicle switches to floating state, then sends the warning prompting in current no-fly region directly to user or sends acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
Simultaneously, when unmanned vehicle is in flight warning region, flying height and flying speed can be set to preset value by unmanned vehicle, the general subnormal flying height of this preset value and flying speed, so that user has the more sufficient time, the flight directive to unmanned vehicle is changed.
As unmanned vehicle be in safe flight region time, unmanned vehicle by the flight directive received carry out flight control.Forward step S105 to subsequently.
In step S105, the offline mode of the unmanned vehicle that unmanned vehicle uses step S104 to obtain, carries out flight to unmanned vehicle and controls.
So namely, complete the control procedure of the unmanned vehicle of the control method of the unmanned vehicle of this preferred embodiment.
The control method of unmanned vehicle of the present invention has carried out effective division for unmanned vehicle flight range, adopts different offline mode, ensure that the flight safety of unmanned vehicle flight range at different flight ranges.
The present invention also provides a kind of control device of unmanned vehicle, and the control device of this unmanned vehicle is arranged in unmanned vehicle, please refer to Fig. 2, and Fig. 2 is the structural representation of the preferred embodiment of the control device of unmanned vehicle of the present invention.The control device of the unmanned vehicle of this preferred embodiment can use the preferred embodiment of the control method of above-mentioned unmanned vehicle to implement, and the control device 20 of this unmanned vehicle comprises flight range and divides module 21, location parameter acquisition module 22, flight range determination module 23, offline mode determination module 24 and flight control modules 25.Flight range divides module 21 for dividing the flight range of unmanned vehicle, and this flight range comprises complete no-fly region, the no-fly region of condition, flight warning region and safe flight region; Location parameter acquisition module 22 is for obtaining the location parameter of unmanned vehicle; Flight range determination module 23, for the location parameter according to unmanned vehicle, determines the type of the flight range of unmanned vehicle; Offline mode determination module 24, for the type of the flight range according to unmanned vehicle, determines the offline mode of unmanned vehicle; Flight control modules 25, for using the offline mode of unmanned vehicle, carries out flight to unmanned vehicle and controls.
Please refer to Fig. 3, Fig. 3 is the structural representation of the offline mode determination module of the preferred embodiment of the control device of unmanned vehicle of the present invention.This offline mode determination module 24 comprises complete no-fly zone performance element 241, condition no-fly zone performance element 242, flight warning district performance element 243 and Flight Safety Region performance element 244.Complete no-fly zone performance element 241 is for performing the offline mode of unmanned vehicle in complete no-fly region; Condition no-fly zone performance element 242 is for performing the offline mode of unmanned vehicle in the no-fly region of condition; Flight warning district performance element 243 is for performing the offline mode of unmanned vehicle in flight warning region; Flight Safety Region performance element 244 is for performing the offline mode of unmanned vehicle in safe flight region.
When the unmanned vehicle of this preferred embodiment uses, first the flight range of flight range division module 21 pairs of unmanned vehicles divides, and wherein flight range comprises complete no-fly region, the no-fly region of condition, flight warning region and safe flight region.
Here complete no-fly region refers to that airport or government offices forbid that unauthorized aircraft carries out the region of flying, and unmanned vehicle carries out flight operation in this region may cause aviation safety problem.The no-fly region of condition refers to the region that can open aircraft under certain condition and carry out flying, as when government offices are authorized, allow given aircraft to take photo by plane to government offices region, at this moment the region of these government offices is the no-fly region of condition.Complete no-fly region and the no-fly region of condition can be changed according to the requirement of user, as under the mandate of government offices, on-site for government offices complete no-fly region are converted to the no-fly region of condition.Flight warning region is the region that unmanned vehicle can unrestrictedly fly, but this flight warning region is arranged on the periphery in complete no-fly region or the no-fly region of condition, near complete no-fly region or the no-fly region of condition, therefore need to strengthen operating the detection of unmanned vehicle, avoid unmanned vehicle to fly in the no-fly region of condition as far as possible.Safe flight region is also the region that unmanned vehicle can unrestrictedly fly, and this safe flight region is away from complete no-fly region and the no-fly region of condition simultaneously, therefore can reduce the detection operating frequency of unmanned vehicle, to save the energy consumption of unmanned vehicle.
Subsequent position parameter acquisition module 22 periodically obtains the location parameter of unmanned vehicle by GPS; Certainly here in order to save the resource of communication, unmanned vehicle also according to user instruction, can obtain the location parameter of unmanned vehicle by GPS.
Then the location parameter of unmanned vehicle that obtains according to location parameter acquisition module 22 of flight range determination module 23, determines the type of the flight range of unmanned vehicle.The type of flight range here can be flight range and divides complete no-fly region, the no-fly region of condition of Module Division, fly warning region or safe flight region.
The type of the flight range of unmanned vehicle that obtains according to flight range determination module 23 of offline mode determination module 24, determines the offline mode of unmanned vehicle subsequently.Be specially the duty of type according to the flight range of unmanned vehicle and unmanned vehicle, determine the offline mode of unmanned vehicle.
As unmanned vehicle is in complete no-fly region, and unmanned vehicle is in state of flight, then unmanned vehicle is switched to floating state by the complete no-fly zone performance element 241 of offline mode determination module 24, then carries out alarm operation and lands shutdown.Because unmanned vehicle possibly cannot obtain the location parameter of self in time in flight course, therefore when unmanned vehicle flies into complete no-fly region by mistake, unmanned vehicle stops flight, the warning that right rear line sends current no-fly region is reminded or sends acousto-optic warning signal by unmanned vehicle directly to outside, to avoid the generation of aviation safety accident.Further in order to avoid the generation of aviation accident, this unmanned vehicle also directly can land shutdown, waits for that user reclaims on ground.
As unmanned vehicle is in complete no-fly region, and unmanned vehicle is in floating state or non-state of flight, if unmanned vehicle is in complete no-fly region startup etc., the warning that then the complete no-fly zone performance element 241 of offline mode determination module 24 makes unmanned vehicle send current no-fly region directly to user is reminded or sends acousto-optic warning signal by unmanned vehicle directly to outside, to avoid the generation of aviation safety accident.Further in order to avoid the generation of aviation accident, this unmanned vehicle also directly can land shutdown, waits for that user reclaims on ground.
As unmanned vehicle be in the no-fly region of condition and unmanned vehicle is state of flight time, then unmanned vehicle is switched to floating state by the condition no-fly zone performance element 242 of offline mode determination module 24, then sends the warning prompting in current no-fly region directly to user or sends acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
As unmanned vehicle be in the no-fly region of condition and unmanned vehicle be non-state of flight or floating state time, then the condition no-fly zone performance element 242 of offline mode determination module 24 make unmanned vehicle directly to user send current no-fly region warning remind or send acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
As unmanned vehicle be in flight warning region time, then the flight warning district performance element 243 of offline mode determination module 24 obtains the heading of unmanned vehicle, heading as unmanned vehicle is away from complete no-fly region and the no-fly region of condition, then flight warning district performance element 243 carries out flight control by the flight directive received.Heading as unmanned vehicle is near complete no-fly region and the no-fly region of condition, then unmanned vehicle is switched to floating state by flight warning district performance element 243, then sends the warning prompting in current no-fly region directly to user or sends acousto-optic warning signal by unmanned vehicle directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid unmanned vehicle air crash.This unmanned vehicle performs operation of making a return voyage.
Simultaneously, when unmanned vehicle is in flight warning region, the flying height of unmanned vehicle and flying speed can be set to preset value by flight warning district performance element 243, the general subnormal flying height of this preset value and flying speed, so that user has the more sufficient time, the flight directive to unmanned vehicle is changed.
As unmanned vehicle be in safe flight region time, the Flight Safety Region performance element 244 of offline mode determination module 24 carries out flight by the flight directive received and controls.
The offline mode of the unmanned vehicle that last flight control modules 25 uses offline mode determination module to obtain, carries out flight to unmanned vehicle and controls.
So namely, complete the control procedure of the unmanned vehicle of the control device 20 of the unmanned vehicle of this preferred embodiment.
The control device of unmanned vehicle of the present invention has carried out effective division for unmanned vehicle flight range, adopts different offline mode, improve the work efficiency of unmanned vehicle at different flight ranges.
Below by a specific embodiment, the control method of unmanned vehicle of the present invention and the specific works principle of control device are described.Please refer to Fig. 4, Fig. 4 is the process flow diagram of the control method of unmanned vehicle of the present invention and the specific embodiment of control device.This specific embodiment comprises:
Step S401, divides the flight range of unmanned vehicle, forwards step S402 and step S403 subsequently to.
Step S402, is periodically obtained the location parameter of unmanned vehicle, forwards step S404 to subsequently by GPS.
Step S403, receives user instruction, and according to user instruction, is obtained the location parameter of unmanned vehicle by GPS.Forward step S404 to subsequently.
Step S404, according to the location parameter of unmanned vehicle, determines the flight range of unmanned vehicle; Flight range as unmanned vehicle is complete no-fly region, then forward step S405 to; Flight range as unmanned vehicle is the no-fly region of condition, then forward step S408 to; Flight range as unmanned vehicle is safe flight region, then forward step S411 to; Flight range as unmanned vehicle is flight warning region, then forward step S412 to.
Step S405, judges the duty of unmanned vehicle, if unmanned vehicle is state of flight, then forwards step S406 to; If unmanned vehicle is non-state of flight, then forward step S407 to.
Step S406, switches to floating state by unmanned vehicle, forwards step S407 to subsequently.
Step S407, unmanned vehicle carries out Zone Alerts operation, lands shutdown subsequently, makes unmanned vehicle abdicate its space occupied and communications conduit fast.
Step S408, judges the duty of unmanned vehicle, if unmanned vehicle is state of flight, then forwards step S409 to; If unmanned vehicle is non-state of flight, then forward step S410 to.
Step S409, switches to floating state by unmanned vehicle, forwards step S410 to subsequently.
Step S410, unmanned vehicle carries out Zone Alerts operation, and user can perform unmanned vehicle makes a return voyage operation, or away from the operation in complete no-fly region and the no-fly region of condition.As user does not carry out any operation after alarm operation setting-up time, then unmanned vehicle performs operation of making a return voyage, and with when not affecting aviation safety, recycles unmanned vehicle.
Step S411, unmanned vehicle performs flight directive, and the acquisition frequency of the parameter that can dip, to reduce the power consumption of unmanned vehicle.
Step S412, judges the duty of unmanned vehicle, if unmanned vehicle is non-state of flight, then forwards step S413 to; If unmanned vehicle is state of flight, then forward step S414 to.
Step S413, the flying height of unmanned vehicle and flying speed are set to preset value, and unmanned vehicle is also sustainable here sends suitable prompting message to user, the careful manipulation of reminding user, note flight item, avoid entering complete no-fly region and the no-fly region of condition.Forward step S414 to subsequently.
Step S414, judges the heading of unmanned vehicle, and the heading as unmanned vehicle is away from complete no-fly region and the no-fly region of condition, then forward step S411 to; Heading as unmanned vehicle is near complete no-fly region and the no-fly region of condition, then forward step S410 to.
So namely, complete the control procedure of the unmanned vehicle of this specific embodiment.
The control method of unmanned vehicle of the present invention and control device have carried out effective division to unmanned vehicle flight range, adopt different offline mode, improve the work efficiency of unmanned vehicle at different flight ranges; Solve the control method of existing unmanned vehicle and the transition that can not well realize between safety zone and no-fly region of control device, cause the technical matters that the work efficiency of unmanned vehicle is lower.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.Above-mentioned each device or system, can perform the method in correlation method embodiment.
In sum; although the present invention discloses as above with preferred embodiment; but above preferred embodiment is also not used to limit the present invention; those of ordinary skill in the art; without departing from the spirit and scope of the present invention; all can do various change and retouching, the scope that therefore protection scope of the present invention defines with claim is as the criterion.
Claims (10)
1. a control method for unmanned vehicle, is characterized in that, comprising:
Divide the flight range of described unmanned vehicle, described flight range comprises no-fly region, flight warning region and safe flight region;
Obtain the location parameter of described unmanned vehicle;
According to the location parameter of described unmanned vehicle, determine the type of the flight range of described unmanned vehicle;
According to the type of the flight range of described unmanned vehicle, determine the offline mode of described unmanned vehicle; And
Use the offline mode of described unmanned vehicle, flight is carried out to described unmanned vehicle and controls.
2. the control method of unmanned vehicle according to claim 1, is characterized in that, the type of the described flight range according to described unmanned vehicle, determines that the step of the offline mode of described unmanned vehicle is specially:
According to the flight range of described unmanned vehicle and the duty of described unmanned vehicle, determine the offline mode of described unmanned vehicle.
3. the control method of unmanned vehicle according to claim 2, is characterized in that, described no-fly region comprises complete no-fly region and the no-fly region of condition;
The type of the described flight range according to described unmanned vehicle and the duty of described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in complete no-fly region and as described in unmanned vehicle be state of flight time, then described unmanned vehicle is switched to floating state, then carries out alarm operation and land shutdown;
As described in unmanned vehicle be in as described in complete no-fly region and as described in unmanned vehicle be non-state of flight or floating state time, then perform alarm operation shutdown of landing.
4. the control method of unmanned vehicle according to claim 3, it is characterized in that, the type of the described flight range according to described unmanned vehicle and the duty of described unmanned vehicle, determine that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in the no-fly region of condition and as described in unmanned vehicle be state of flight time, then described unmanned vehicle is switched to floating state, then carries out alarm operation; After setting-up time, perform operation of making a return voyage;
As described in unmanned vehicle be in as described in the no-fly region of condition and as described in unmanned vehicle be non-state of flight or floating state time, then carry out alarm operation; After setting-up time, perform operation of making a return voyage.
5. the control method of unmanned vehicle according to claim 1, is characterized in that, the type of the described flight range according to described unmanned vehicle, determines that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in flight warning region time, then obtain the heading of described unmanned vehicle, as described in the heading of unmanned vehicle be away from as described in no-fly region, then carry out flight control according to flight directive; As described in the heading of unmanned vehicle be near as described in no-fly region, then described unmanned vehicle is switched to floating state, then carries out alarm operation; After setting-up time, perform operation of making a return voyage.
6. the control method of unmanned vehicle according to claim 5, is characterized in that, when described unmanned vehicle is in described flight warning region, the flying height of described unmanned vehicle and flying speed is set to preset value.
7. the control method of unmanned vehicle according to claim 1, is characterized in that, the type of the described flight range according to described unmanned vehicle, determines that the step of the offline mode of described unmanned vehicle comprises:
As described in unmanned vehicle be in as described in safe flight region time, then according to flight directive carry out flight control.
8. the control method of unmanned vehicle according to claim 1, is characterized in that, described flight warning region is arranged on described no-fly area periphery, and described safe flight region is arranged on the periphery in described flight warning region.
9. the control method of unmanned vehicle according to claim 1, is characterized in that, the step of the location parameter of the described unmanned vehicle of described acquisition comprises:
The location parameter of described unmanned vehicle is periodically obtained by GPS; Or according to user instruction, obtained the location parameter of described unmanned vehicle by GPS.
10. a control device for unmanned vehicle, is characterized in that, comprising:
Flight range divides module, and for dividing the flight range of described unmanned vehicle, described flight range comprises no-fly region, flight warning region and safe flight region;
Location parameter acquisition module, for obtaining the location parameter of described unmanned vehicle;
Flight range determination module, for the location parameter according to described unmanned vehicle, determines the type of the flight range of described unmanned vehicle;
Offline mode determination module, for the type of the flight range according to described unmanned vehicle, determines the offline mode of described unmanned vehicle; And
Flight control modules, for using the offline mode of described unmanned vehicle, carrying out flight to described unmanned vehicle and controlling.
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