CN105182992A - Unmanned aerial vehicle control method and device - Google Patents
Unmanned aerial vehicle control method and device Download PDFInfo
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- CN105182992A CN105182992A CN201510374757.1A CN201510374757A CN105182992A CN 105182992 A CN105182992 A CN 105182992A CN 201510374757 A CN201510374757 A CN 201510374757A CN 105182992 A CN105182992 A CN 105182992A
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Abstract
The invention discloses an unmanned aerial vehicle (UAV) control method comprising the steps of making a UAV enter a fixed-height flight mode, acquiring the current flight height of the UAV, and controlling flight of the UAV according to the current flight height and the flight height set for the fixed-height flight mode. The invention further discloses a UAV control device. Automatic fixed-height flight is realized only by setting the fixed-height flight mode. The requirement on the control technology of flight controllers is lowered, and precise control is realized.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of control method of unmanned plane, device.
Background technology
Unmanned plane refers to and utilizes wireless remote control device and the control device of self to carry out the not manned vehicle controlled, such as depopulated helicopter, unmanned fixed-wing aircraft, unmanned parasol etc.This unmanned plane may be used for carry filming apparatus, for taking photo by plane, surveying and drawing, scout etc.This unmanned plane at work, can realize the height-lock control of unmanned plane, but the height-lock control of unmanned plane is all the flying height first being regulated unmanned plane by controller, then controls the flying height of unmanned plane during flying after current adjustment.So very high to the manipulation technical requirement of flight effector, thus the height-lock control function of this unmanned plane cannot be used widely, and cannot reach and control accurately.
Summary of the invention
Fundamental purpose of the present invention is the control method, the device that provide a kind of unmanned plane, and the manipulation technical requirement of height-lock control function to flight effector being intended to solve prior art unmanned plane is very high, and cannot realize controlling accurately.
In order to achieve the above object, the invention provides a kind of unmanned aerial vehicle (UAV) control method, comprise the following steps:
Control unmanned plane and enter height-lock control pattern;
Obtain the current flight height of unmanned plane;
According to the flying height that described current flight height and described height-lock control pattern set, control unmanned plane during flying.
In addition, for achieving the above object, present invention also offers a kind of control device of unmanned plane, comprising:
Mode control module, enters height-lock control pattern for controlling unmanned plane;
Flying height acquisition module, for obtaining the current flight height of unmanned plane;
Flight control modules, for the flying height according to described current flight height and the setting of described height-lock control pattern, controls unmanned plane during flying.
The embodiment of the present invention enters height-lock control pattern by controlling unmanned plane, and in this height-lock control pattern, by the current flight height of Real-time Obtaining unmanned plane, and according to the height of this current flying height and setting, controls unmanned plane during flying.Therefore, the embodiment of the present invention only needs to arrange height-lock control pattern, just achieves automatic height-lock control, not only reduces the manipulation technical requirement of flight effector, but also achieves accurate control.
Accompanying drawing explanation
Fig. 1 is the interactive structure schematic diagram of unmanned flight's system of the present invention;
Fig. 2 is the high-level schematic functional block diagram of the controller of unmanned flight's system of the present invention;
Fig. 3 is the high-level schematic functional block diagram of control device first embodiment of unmanned plane of the present invention;
Fig. 4 is the height exemplary plot of the present invention when controlling unmanned plane height-lock control;
Fig. 5 is the high-level schematic functional block diagram of control device second embodiment of unmanned plane of the present invention;
Fig. 6 is the high-level schematic functional block diagram of control device the 3rd embodiment of unmanned plane of the present invention;
Fig. 7 is the schematic flow sheet of control method first embodiment of unmanned plane of the present invention;
Fig. 8 is the schematic flow sheet of control method second embodiment of unmanned plane of the present invention;
Fig. 9 is the schematic flow sheet of control method the 3rd embodiment of unmanned plane of the present invention.
In order to make technical scheme of the present invention clearly, understand, be described in further detail below in conjunction with accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of unmanned flight's system is provided.This unmanned flight's system comprises controller 100 and unmanned plane 200.
Unmanned plane 200 mainly refers to unmanned aerial vehicle, can comprise fuselage, wing, is provided with drive unit, communication device, power supply etc. in fuselage.Wireless communication apparatus is used for unmanned plane 200 and carries out communication with controller 100.Communication device is used for the current flight state of unmanned plane 200, such as heading, flying height, flying speed, power supply status etc. are sent to controller 100, controller 100 is for being sent to unmanned plane 200 by steering order or the course line of planning in advance, control unmanned plane 200 to make the drive unit of unmanned plane 200 according to steering order to fly, or unmanned plane 200 can be controlled fly according to the course line that controller sends.
Be understandable that, all right other equipment of carry on this unmanned plane 200, such as filming apparatus, takes with the region of flying to unmanned plane 200.This unmanned plane 200 can also be connected by The Cloud Terrace with filming apparatus, and this The Cloud Terrace can comprise an axle, diaxon or three axle The Cloud Terraces.The Cloud Terrace carry is on described unmanned plane 200, and filming apparatus is arranged on The Cloud Terrace.The Cloud Terrace can be controlled by drive unit and carry out divertical motion, thus can shooting area be expanded.In addition, the image captured by this filming apparatus can be stored in filming apparatus, also can be transmitted back to controller 100 by communication device.
Above-mentioned controller 100 can independently be arranged, such as ground control system, telepilot, control rocking bar etc.; Certainly this controller 100 also can be arranged in unmanned plane, receives the outside parameter imported into, and realize the automatic flight of unmanned plane according to this parameter by communication device.Such as, the height that the parameter that this outside is imported into comprises height-lock control and the course line of planning in advance.
In addition, above-mentioned unmanned plane 200 also can arrange range finder, such as infrared distance measuring sensor, ultrasonic distance-measuring sensor, laser range sensor, radar sensor etc.And this range finder is multiple, and correspondence is arranged on each position of fuselage.Such as be arranged on fuselage front, to detect the distance of fuselage distance preceding object thing; Be arranged on below fuselage, to detect the distance on fuselage distance ground, i.e. the flying height of aircraft; Be arranged on fuselage left and right sides, to detect the distance of fuselage distance left and right sides barrier.
Above-mentioned unmanned plane 200 is also provided with vision system, this vision system can comprise imageing sensor and vision processor, the ambient image on ground is gathered by this imageing sensor, and the ambient image of this collection is sent to vision processor, to make vision processor identify this ambient image, determine the environment of this collection.This environment can comprise mountain valley, city, indoor etc.
As shown in Figure 2, controller 100 comprises operational module 101, processing module 102, memory module 103, display module 104 and communication module 105.Wherein operational module 101 can comprise the assembly for user operation, and such as physical button, virtual key etc., can also comprise rocking bar, Fingerprint Identification Unit, voice recognition unit, recognition of face device etc. certainly.After this operational module 101 detects the operational order of user, send it to processing module 102.This memory module 103 can comprise internal storage and external memory storage, such as memory card or external connection of storage card etc.Processing module 102, as the processing enter of controller 100, for data processing, is transferred other assemblies and is carried out work etc.Such as, this processing module 102 is according to the request of user, and corresponding program in memory module 103 of transferring performs, to realize the function that user asks.Result after display module 104 processes for Graphics Processing module 102.Communication module 105 is for communicating with unmanned plane 200 and other equipment.Be understandable that, above-mentioned controller comprises but does not limit the parts shown in Fig. 2, and such as this controller 100 can also comprise data-interface, power supply etc.This controller 100 can be land station, computing machine, mobile terminal, telepilot etc.
Based on above-mentioned unmanned flight's system, the present invention proposes a kind of control device of unmanned plane, this control device can independently be arranged, and can also be arranged on unmanned plane or on controller.If when this control device is arranged on unmanned plane, this unmanned plane can receive unmanned plane determine height mode instruction after, control unmanned plane enter height-lock control pattern.Under this height-lock control pattern, this unmanned plane is by the current flight height of Real-time Obtaining self, and according to the current flight height of unmanned plane and the flying height of determine to set in height mode instruction, control unmanned plane during flying, to realize the height-lock control of unmanned plane.This unmanned plane can independently realize, also can with external unit, such as server, controller realize jointly.If when this control device is arranged on the controller, height-lock control pattern is entered by controlling unmanned plane, and obtain the current flight height of the unmanned plane detected by the sensor that unmanned plane is arranged, then according to the flying height that current flight height and height-lock control pattern set, unmanned plane during flying is controlled.
As shown in Figure 3, this control device can comprise:
Mode control module 110, enters height-lock control pattern for controlling unmanned plane;
Flying height acquisition module 120, for obtaining the current flight height of unmanned plane;
Flight control modules 130, for the flying height according to described current flight height and the setting of described height-lock control pattern, controls unmanned plane during flying.
In the embodiment of the present invention, this mode control module 110 will provide user simple pattern set-up mode.Particularly, mode control module 110 provides height option, such as 1 meter, 5 meters, 50 meters etc.User only needs to select corresponding height option, or the corresponding height of input, and the height that can realize height-lock control pattern is arranged.Control unmanned plane, according to the input of user, is entered height-lock control pattern by mode control module 110, can fly to make this unmanned plane with the height of setting.After unmanned plane enters height-lock control pattern, flying height acquisition module 120, by the current flight height of Real-time Obtaining unmanned plane, can be detected by the range finder that unmanned plane is arranged.Flight control modules 130, according to the height of current flight height and setting, controls unmanned plane and carries out height-lock control.In height-lock control process, not only will ensure the flying height of unmanned plane, but also the barrier of keeping away that will realize barrier flies.
As shown in Figure 4, the height according to user is arranged, and can arrange unmanned plane height-lock control at height H 1, H2, H3, namely keeps unmanned plane follow-on mission at sustained height.This highly can be inputted by user, also can direct rational height grade, the corresponding flying height of each height grade.Such as the first estate is 1m, and the second grade is 5m, and the tertiary gradient is 50m etc.User directly selects height grade, can control unmanned plane and enter height-lock control pattern.Certainly be not limited to set Three Estate, also can multiple grade, so go for different targets.Such as, unmanned plane needs the target of following the tracks of to be personage, then can arrange above-mentioned 3 grades, and by controlling the The Cloud Terrace of carry on unmanned plane, from below shooting or eyelevel shot or the activity from top shooting personage.To show good camera lens sense, then by setting height-lock control pattern, and carry out flying height switching when planning.
The embodiment of the present invention enters height-lock control pattern by controlling unmanned plane, and in this height-lock control pattern, by the current flight height of Real-time Obtaining unmanned plane, and according to the height of this current flying height and setting, controls unmanned plane during flying.Therefore, the embodiment of the present invention only needs to arrange height-lock control pattern, just achieves automatic height-lock control, not only reduces the manipulation technical requirement of flight effector, but also achieves accurate control.
Further, as shown in Figure 5, the control device of above-mentioned unmanned plane also comprises:
Flight environment of vehicle acquisition module 140, for obtaining the current flight environment of unmanned plane.
Above-mentioned flight environment of vehicle can comprise the field etc. of mountain forest, city, complicated landform.This current flight environment of vehicle obtains by the vision system on unmanned plane.
Above-mentioned flight control modules 130, according to current flight environment, according to the Robot dodge strategy corresponding with current flight environment, controls unmanned plane and carries out keeping away barrier flight.
Particularly, the barrier mode of keeping away of the embodiment of the present invention can comprise and self keeps away barrier mode or barrier mode kept away by three-dimensional map.Wherein self keeping away barrier mode is environment by the range finder of unmanned plane self detection fuselage surrounding, such as fuselage surrounding whether exist barrier and and barrier between distance.Then according to the environment of range finder detection, control unmanned plane and carry out keeping away barrier flight.Such as there is barrier in range finder detection front, and be 10 meters with the distance of barrier, then what control this unmanned plane gets around this barrier, and such as reduction of speed level get around, or improve flying height and get around etc.Three-dimensional map keep away barrier mode be detect unmanned plane by three-dimensional map flight range in whether there is the position of barrier and barrier, then according to the position of this barrier, control unmanned plane and carry out keeping away barrier flight.Such as, there is barrier in the A place, position on three-dimensional map, and this position A is on the flight path of unmanned plane, therefore when unmanned plane is about to reach A place, this position, what control this unmanned plane gets around this barrier, and such as reduction of speed level get around, or improves flying height and get around etc.
Keeping away barrier mode and can carry out separately keeping away barrier, also can keep away barrier in conjunction with carrying out for above-mentioned two kinds.Such as, if current flight environment is mountain forest, then controls unmanned plane carry out keeping away barrier flight by self keeping away barrier mode; If current flight environment is city, then keeps away barrier and the mode of self keeping away barrier by three-dimensional map navigation and control unmanned plane and carry out keeping away barrier flight; If current flight environment is the field of complicated landform, then keeps away barrier mode by three-dimensional map navigation and control unmanned plane and carry out keeping away barrier flight.
Further, as shown in Figure 6, the control device of above-mentioned unmanned plane also comprises:
Tracking module 150, for again positioning the target that the needs of unmanned plane monitor.
Particularly, after keeping away barrier flight, in order to make unmanned plane can find target rapidly, need to carry out target identification.And before carrying out target identification, need to need the target signature of the target monitored to store, so that tracking module 150 utilizes the image in the vision system collection monitoring range of unmanned plane, then the feature of this image being mated with needing the target signature monitored, positioning with the target signature monitored needs.Be specially: the translational speed of target signature and the vertical range between target signature and unmanned plane that obtain location.The translational speed of this target signature can be obtained by vision system; Target signature and the vertical range between nobody obtain by the range finder on unmanned plane.
In another embodiment, above-mentioned tracking module 150, also by obtaining the latitude and longitude information of target, positions needing the target monitored.Be specially: obtain the distance between the target signature of location and unmanned plane; Distance between the target signature of the latitude and longitude information current according to unmanned plane and the course heading of unmanned plane, location and unmanned plane, calculates the latitude and longitude information of the target signature obtaining location.
The current latitude and longitude information of above-mentioned unmanned plane can obtain according to the GPS locating module on unmanned plane.If this unmanned plane is provided with The Cloud Terrace, the course heading of this unmanned plane can also be the luffing angle of the The Cloud Terrace of carry on unmanned plane.Latitude and longitude information (the lngs current according to unmanned plane, and the course heading θ of unmanned plane, distance d between the target signature of location and unmanned plane lati), utilize the computing formula preset, calculate the latitude and longitude information (lngs1, lati1) of the target signature obtaining location.In the present embodiment, this computing formula preset is specific as follows:
Wherein, kmperDegree represents every span length once of the earth, and in the embodiment of the present invention, this span length is 111120.00071117m.
After tracking module positions target, above-mentioned flight control modules 130, by the location according to tracking module, controls unmanned plane during flying, to follow the tracks of located target signature.Such as, the flying speed of adjustment unmanned plane, moves to make the object synchronization of this unmanned plane and described location; And the flying height of adjustment unmanned plane, the flying height equaling set by described height-lock control pattern to make the vertical range between the target of location and unmanned plane.
Accordingly, the present invention proposes a kind of control method of unmanned plane.As shown in Figure 7, the control method of the unmanned plane of this embodiment comprises the following steps:
Step S110, control unmanned plane enter height-lock control pattern;
In the embodiment of the present invention, user will be provided simple pattern set-up mode.Such as provide height option: 1 meter, 5 meters, 50 meters etc.User only needs to select corresponding height option, or the corresponding height of input, and the height that can realize height-lock control pattern is arranged.Or, input item is provided, needs the height of height-lock control for user's input.Now, according to the input of user, control unmanned plane is entered height-lock control pattern, can fly with the height of setting to make this unmanned plane.
The current flight height of step S120, acquisition unmanned plane;
After unmanned plane enters height-lock control pattern, by the current flight height of Real-time Obtaining unmanned plane, can be detected by the range finder that unmanned plane is arranged.Range finder can comprise infrared distance measuring sensor, ultrasonic distance-measuring sensor, laser range sensor, radar sensor etc.And this range finder is multiple, and correspondence is arranged on each position of fuselage.Such as be arranged on fuselage front, to detect the distance of fuselage distance preceding object thing; Be arranged on below fuselage, to detect the distance on fuselage distance ground, i.e. the flying height of aircraft; Be arranged on fuselage left and right sides, to detect the distance of fuselage distance left and right sides barrier.
Step S130, the flying height set according to described current flight height and described height-lock control pattern, control unmanned plane during flying.
According to the height of current flight height and setting, control unmanned plane and carry out height-lock control.In height-lock control process, not only will ensure the flying height of unmanned plane, but also the barrier of keeping away that will realize barrier flies.
The embodiment of the present invention enters height-lock control pattern by controlling unmanned plane, and in this height-lock control pattern, by the current flight height of Real-time Obtaining unmanned plane, and according to the height of this current flying height and setting, controls unmanned plane during flying.Therefore, the embodiment of the present invention only needs to arrange height-lock control pattern, just achieves automatic height-lock control, not only reduces the manipulation technical requirement of flight effector, but also achieves accurate control.
Further, as shown in Figure 8, the flight control method of above-mentioned unmanned plane also comprises:
The current flight environment of step S140, acquisition unmanned plane;
Above-mentioned flight environment of vehicle can comprise the field etc. of mountain forest, city, complicated landform.This current flight environment of vehicle obtains by the vision system on unmanned plane.
Step S150, according to described current flight environment, according to the Robot dodge strategy corresponding with current flight environment, control unmanned plane and carry out keeping away barrier flight.
Particularly, the barrier mode of keeping away of the embodiment of the present invention can comprise and self keeps away barrier mode or barrier mode kept away by three-dimensional map.Wherein self keeping away barrier mode is environment by the range finder of unmanned plane self detection fuselage surrounding, such as fuselage surrounding whether exist barrier and and barrier between distance.Then according to the environment of range finder detection, control unmanned plane and carry out keeping away barrier flight.Such as there is barrier in range finder detection front, and be 10 meters with the distance of barrier, then what control this unmanned plane gets around this barrier, and such as reduction of speed level get around, or improve flying height and get around etc.Three-dimensional map keep away barrier mode be detect unmanned plane by three-dimensional map flight range in whether there is the position of barrier and barrier, then according to the position of this barrier, control unmanned plane and carry out keeping away barrier flight.Such as, there is barrier in the A place, position on three-dimensional map, and this position A is on the flight path of unmanned plane, therefore when unmanned plane is about to reach A place, this position, what control this unmanned plane gets around this barrier, and such as reduction of speed level get around, or improves flying height and get around etc.
Keeping away barrier mode and can carry out separately keeping away barrier, also can keep away barrier in conjunction with carrying out for above-mentioned two kinds.Particularly, above-mentioned steps S150 comprises:
If current flight environment is mountain forest, then controls unmanned plane by self Robot dodge strategy and carry out keeping away barrier flight;
If current flight environment is city, then keeps away barrier by three-dimensional map navigation and carry out keeping away barrier flight with the policy control unmanned plane self keeping away barrier;
If current flight environment is the field of complicated landform, then controls unmanned plane by three-dimensional map navigation Robot dodge strategy and carry out keeping away barrier flight.
Further, as shown in Figure 9, also comprise after above-mentioned steps S150:
Step S160, again the target signature that the needs of unmanned plane monitor to be positioned;
Particularly, after keeping away barrier flight, in order to make unmanned plane can find target rapidly, need to carry out target identification.And before carrying out target identification, need to need the target signature of the target monitored to store, so that tracking module 150 utilizes the image in the vision system collection monitoring range of unmanned plane, then the feature of this image being mated with needing the target signature monitored, positioning with the target signature monitored needs.Be specially: the translational speed of target signature and the vertical range between target signature and unmanned plane that obtain location.The translational speed of this target signature can be obtained by vision system; Target signature and the vertical range between nobody obtain by the range finder on unmanned plane.
In another embodiment, the location of above-mentioned target, also by obtaining the latitude and longitude information of target, positions needing the target monitored.Be specially: obtain the distance between the target signature of location and unmanned plane; Distance between the target signature of the latitude and longitude information current according to unmanned plane and the course heading of unmanned plane, location and unmanned plane, calculates the latitude and longitude information of the target signature obtaining location.
The current latitude and longitude information of above-mentioned unmanned plane can obtain according to the GPS locating module on unmanned plane.If this unmanned plane is provided with The Cloud Terrace, the course heading of this unmanned plane can also be the luffing angle of the The Cloud Terrace of carry on unmanned plane.Latitude and longitude information (the lngs current according to unmanned plane, and the course heading θ of unmanned plane, distance d between the target signature of location and unmanned plane lati), utilize the computing formula preset, calculate the latitude and longitude information (lngs1, lati1) of the target signature obtaining location.In the present embodiment, this computing formula preset is specific as follows:
Wherein, kmperDegree represents every span length once of the earth, and in the embodiment of the present invention, this span length is 111120.00071117m.
After tracking module positions target, above-mentioned flight control modules 130, by the location according to tracking module, controls unmanned plane during flying, to follow the tracks of located target signature.Such as, the flying speed of adjustment unmanned plane, moves to make the object synchronization of this unmanned plane and described location; And the flying height of adjustment unmanned plane, the flying height equaling set by described height-lock control pattern to make the vertical range between the target of location and unmanned plane.
Step S170, control unmanned plane, follow the tracks of located target signature.
Particularly, after tracking module positions target, above-mentioned flight control modules 130, by the location according to tracking module, controls unmanned plane during flying, to follow the tracks of located target signature.Such as, the flying speed of adjustment unmanned plane, moves to make the object synchronization of this unmanned plane and described location; And the flying height of adjustment unmanned plane, the flying height equaling set by described height-lock control pattern to make the vertical range between the target of location and unmanned plane.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (12)
1. a control method for unmanned plane, is characterized in that, the control method of described unmanned plane comprises the following steps:
Control unmanned plane and enter height-lock control pattern;
Obtain the current flight height of unmanned plane;
According to the flying height that described current flight height and described height-lock control pattern set, control unmanned plane during flying.
2. the control method of unmanned plane as claimed in claim 1, it is characterized in that, the control method of described unmanned plane also comprises:
Obtain the current flight environment of unmanned plane;
According to described current flight environment, according to the Robot dodge strategy corresponding with current flight environment, control unmanned plane and carry out keeping away barrier flight.
3. the control method of unmanned plane as claimed in claim 2, it is characterized in that, described current flight environment comprises the field of mountain forest, city, complicated landform; Described according to described current flight environment, according to the Robot dodge strategy corresponding with current flight environment, control unmanned plane carries out keeping away barrier flight and comprises:
If current flight environment is mountain forest, then controls unmanned plane by self Robot dodge strategy and carry out keeping away barrier flight;
If current flight environment is city, then keeps away barrier by three-dimensional map navigation and carry out keeping away barrier flight with the policy control unmanned plane self keeping away barrier;
If current flight environment is the field of complicated landform, then controls unmanned plane by three-dimensional map navigation Robot dodge strategy and carry out keeping away barrier flight.
4. the control method of unmanned plane as claimed in claim 2, is characterized in that, described control unmanned plane also comprises after carrying out keeping away barrier flight:
Again the target signature that the needs of unmanned plane monitor is positioned;
Control unmanned plane, located target signature is followed the tracks of.
5. the control method of unmanned plane as claimed in claim 4, is characterized in that described control unmanned plane carries out tracking to located target signature and comprises:
Obtain the translational speed of target signature and the vertical range between target signature and unmanned plane of location;
Control unmanned plane during flying, to make the target signature synchronizing moving of unmanned plane and described location, the vertical height between target signature and unmanned plane equals the flying height of described height-lock control pattern setting.
6. the control method of unmanned plane as claimed in claim 4, is characterized in that described control unmanned plane carries out tracking to located target signature and comprises:
Obtain the distance between the target signature of location and unmanned plane;
Distance between the target signature of the latitude and longitude information current according to unmanned plane and the course heading of unmanned plane, location and unmanned plane, calculates the latitude and longitude information of the target signature obtaining location;
According to the latitude and longitude information of the target signature of location, control unmanned plane during flying, to follow the tracks of the target of location.
7. a control device for unmanned plane, is characterized in that, described control device comprises:
Mode control module, enters height-lock control pattern for controlling unmanned plane;
Flying height acquisition module, for obtaining the current flight height of unmanned plane;
Flight control modules, for the flying height according to described current flight height and the setting of described height-lock control pattern, controls unmanned plane during flying.
8. the control device of unmanned plane as claimed in claim 7, it is characterized in that, the control device of described unmanned plane also comprises:
Flight environment of vehicle acquisition module, for obtaining the current flight environment of unmanned plane;
Described flight control modules also for: according to described current flight environment, according to the Robot dodge strategy corresponding with current flight environment, control unmanned plane and carry out keeping away barrier flight.
9. the control device of unmanned plane as claimed in claim 8, it is characterized in that, described current flight environment comprises the field of mountain forest, city, complicated landform; Described flight control modules also for:
If current flight environment is mountain forest, then controls unmanned plane by self Robot dodge strategy and carry out keeping away barrier flight;
If current flight environment is city, then keeps away barrier by three-dimensional map navigation and carry out keeping away barrier flight with the policy control unmanned plane self keeping away barrier;
If current flight environment is the field of complicated landform, then controls unmanned plane by three-dimensional map navigation Robot dodge strategy and carry out keeping away barrier flight.
10. the control device of unmanned plane as claimed in claim 8, it is characterized in that, the control device of described unmanned plane also comprises:
Tracking module, for again positioning the target signature that the needs of unmanned plane monitor;
Described flight control modules also for: control unmanned plane, located target signature is followed the tracks of.
The control device of 11. unmanned planes as claimed in claim 10, it is characterized in that, described tracking module is used for: the translational speed of target signature and the vertical range between target signature and unmanned plane that obtain location;
Described flight control modules is used for: control unmanned plane during flying, and to make the object synchronization of unmanned plane and described location move, the vertical range between target signature and unmanned plane equals the flying height of described height-lock control pattern setting.
The control device of 12. unmanned planes as claimed in claim 10, it is characterized in that, described tracking module is used for: obtain the distance between the target signature of location and unmanned plane; Distance between the target signature of the latitude and longitude information current according to unmanned plane and the course heading of unmanned plane, location and unmanned plane, calculates the latitude and longitude information of the target signature obtaining location;
Described flight control modules is used for: according to the latitude and longitude information of the target signature of location, controls unmanned plane during flying, to follow the tracks of the target of location.
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| CN105700550A (en) * | 2016-01-26 | 2016-06-22 | 深圳市大疆创新科技有限公司 | Unmanned plane and flight control method and system therefor |
| CN106657781A (en) * | 2016-12-19 | 2017-05-10 | 北京小米移动软件有限公司 | Target object photographing method and target object photographing device |
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| CN107108023A (en) * | 2016-12-22 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method |
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