CN105353771B - Unmanned vehicle control method and control device - Google Patents
Unmanned vehicle control method and control device Download PDFInfo
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- CN105353771B CN105353771B CN201510917669.1A CN201510917669A CN105353771B CN 105353771 B CN105353771 B CN 105353771B CN 201510917669 A CN201510917669 A CN 201510917669A CN 105353771 B CN105353771 B CN 105353771B
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Abstract
The present invention provides a kind of unmanned vehicle control method, and it includes by setting time interval, collecting the Flight Condition Data of unmanned vehicle；According to current Flight Condition Data, judge whether unmanned vehicle collides；As unmanned vehicle collides, then the flight position data of the unmanned vehicle of the first default recovery time point is obtained；And the flight position data of the unmanned vehicle using the first default recovery time point, flight position recovery is carried out to unmanned vehicle.The present invention also provides a kind of unmanned vehicle control device.After unmanned vehicle collides, the flight position that unmanned vehicle is carried out using the flight position data of unmanned vehicle is recovered the unmanned vehicle control method and control device of the present invention；The technical problem of recovery operation can not be carried out to the state of flight of unmanned vehicle by solving existing unmanned vehicle control method and control device.
Description
Technical field
The present invention relates to unmanned vehicle control field, is filled more particularly to a kind of unmanned vehicle control method and control
Put.
Background technology
With the popularization of unmanned vehicle, increasing user begins to use unmanned vehicle to carry out various fly
Row operation.But most of users do not have the experience for manipulating unmanned vehicle, carried out by these neophyty operation unmanned vehicles
During flight, the problem of airborne aircraft is collided with aerial barrage thing often occurs.
Existing unmanned vehicle is equipped with anticollision barrier simultaneously, as primary collision, anticollision barrier occur for unmanned vehicle
The energy of collision can preferably be absorbed；Therefore as long as at this moment the rotor of unmanned vehicle maintains output power, unmanned vehicle
It is generally possible to be restored back under imbalance state.
But unmanned vehicle, when colliding, the reaction force of collision often causes unmanned vehicle can occur can not be pre-
The motion known, this motion make it that the heading of the unmanned vehicle of collision rift is unknowable；Such as operating user can not be to nobody
The direction of aircraft collision rift is accurately positioned, and may result in unmanned vehicle and secondary collision occurs.Therefore need to set
The control method of a set of unmanned vehicle to after colliding is put, to ensure that the unmanned vehicle after colliding can be safe
Return to normal condition.
The patent of invention of Application No. 201510606155.4 discloses a kind of anticollision unmanned vehicle system and its anticollision
Method.It carries out anticollision processing automatically by CPU, but does not wherein disclose the unmanned vehicle and touched
Processing mode after hitting.
The patent of invention of Application No. 201520399771.2 discloses a kind of amphibious unmanned plane for preventing from crashing, and it is logical
Safeguard protection can be carried out to the unmanned plane of collision rift by crossing air bag and setting for aerating device, but wherein not to unmanned plane
State of flight carry out recovery operation.
Therefore, it is necessary to a kind of unmanned vehicle control method and control device are provided, to solve present in prior art
Problem.
The content of the invention
The embodiment of the present invention provides one kind after unmanned vehicle collides, and the state of flight of unmanned vehicle can be entered
The unmanned vehicle control method and control device of row recovery operation；To solve existing unmanned vehicle control method and control
Device can not carry out the technical problem of recovery operation to the state of flight of unmanned vehicle.
The embodiment of the present invention provides a kind of unmanned vehicle control method, and it includes：
By setting time interval, the Flight Condition Data of unmanned vehicle is collected；
According to the current Flight Condition Data, judge whether the unmanned vehicle collides；
The unmanned vehicle as described in collides, then obtains flying for the first unmanned vehicle for presetting recovery time point
Row position data；And
Using the flight position data of the unmanned vehicle of the described first default recovery time point, to it is described nobody fly
Row device carries out flight position recovery.
In unmanned vehicle control method of the present invention, the Flight Condition Data includes the unmanned vehicle
Flying speed；
It is described according to the Flight Condition Data, judge that the step of whether unmanned vehicle collides includes：
Judge whether the flying speed of the unmanned vehicle matches with flight control instruction, if it does not match, judging institute
Unmanned vehicle is stated to collide；And
Judge whether the unmanned vehicle is more than or equal to the in the rate of change of the flying speed of at least two preset directions
One setting value, such as described rate of change are more than or equal to setting value, then judge that the unmanned vehicle collides.
In unmanned vehicle control method of the present invention, the unmanned vehicle as described in collides, then obtains
The step of flight position data for taking the unmanned vehicle of the first default recovery time point, specifically includes：
The unmanned vehicle as described in collides, and obtains the flying speed before the unmanned vehicle collision；
Flying speed before being collided according to the unmanned vehicle, the described first default recovery time point of setting；And
Obtain the flight position data of the unmanned vehicle of the described first default recovery time point.
In unmanned vehicle control method of the present invention, the flight before the collision according to the unmanned vehicle
Speed, include the step of the described first default recovery time point of setting：
Judge whether the flying speed before the unmanned vehicle collision is more than or equal to the second setting value；
Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then when setting first before the collision
Between time point of section be the described first default recovery time point；And
Flying speed before being collided such as unmanned vehicle is less than the second setting value, then sets second time period before the collision
Time point be the described first default recovery time point；
Wherein described first time period is less than the second time period.
In unmanned vehicle control method of the present invention, the flight position data includes the unmanned vehicle
Towards data, altitude information and airborne equipment status data；
The flight position data of the unmanned vehicle using the described first default recovery time point, to the nothing
People's aircraft carry out flight position recovery the step of be specially：
The unmanned vehicle is recovered to direction, the height of the unmanned vehicle to the described first default recovery time point
Degree and/or record equipment state.
In unmanned vehicle control method of the present invention, the unmanned vehicle control method also includes：
The flight position data of the unmanned vehicle and corresponding time point data are recorded in real time.
In unmanned vehicle control method of the present invention, the flight position for recording the unmanned vehicle in real time
The step of putting data and corresponding time point data be specially：
By the way of displacement stores, the flight position data of the unmanned vehicle and corresponding time are recorded in real time
Point data.
In unmanned vehicle control method of the present invention, the unmanned vehicle control method also includes：
The flight position for receiving user recovers instruction, and recovers to instruct according to the flight position, default extensive using second
The flight position data of the unmanned vehicle at multiple time point, flight position recovery is carried out to the unmanned vehicle.
The embodiment of the present invention also provides a kind of unmanned vehicle control device, and it includes：
Flight Condition Data collection module, for by setting time interval, collecting the Flight Condition Data of unmanned vehicle；
Collision judgment module, for according to the current Flight Condition Data, judging whether the unmanned vehicle is sent out
Raw collision；
Flight position data acquisition module, collided for such as described unmanned vehicle, then obtain the first default recovery
The flight position data of the unmanned vehicle at time point；And
Flight position recovery module, the flight for the unmanned vehicle using the described first default recovery time point
Position data, flight position recovery is carried out to the unmanned vehicle.
In unmanned vehicle control device of the present invention, the flight position data acquisition module is specifically used for：
The unmanned vehicle as described in collides, and obtains the flying speed before the unmanned vehicle collision；
Judge whether the flying speed before the unmanned vehicle collision is more than or equal to the second setting value；
Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then when setting first before the collision
Between time point of section be the described first default recovery time point；
Flying speed before being collided such as unmanned vehicle is less than the second setting value, then sets second time period before the collision
Time point be the described first default recovery time point；Wherein described first time period is less than the second time period；And
Obtain the flight position data of the unmanned vehicle of the described first default recovery time point.
Compared to prior art, unmanned vehicle control method of the invention and unmanned vehicle control device fly at nobody
After row device collides, the flight position that unmanned vehicle is carried out using the flight position data of unmanned vehicle is recovered；Solve
Existing unmanned vehicle control method and control device can not carry out recovery operation to the state of flight of unmanned vehicle
Technical problem.
Brief description of the drawings
Fig. 1 is the flow chart of the first preferred embodiment of the unmanned vehicle control method of the present invention；
Fig. 2 is the flow chart of the second preferred embodiment of the unmanned vehicle control method of the present invention；
Fig. 3 is the structural representation of the first preferred embodiment of the unmanned vehicle control device of the present invention；
Fig. 4 is the structural representation of the second preferred embodiment of the unmanned vehicle control device of the present invention.
Embodiment
Schema is refer to, wherein identical element numbers represent identical component, and principle of the invention is to implement one
Illustrated in appropriate computing environment.The following description is based on the illustrated specific embodiment of the invention, and it should not be by
It is considered as the limitation present invention other specific embodiments not detailed herein.
In the following description, specific embodiment of the invention will be referred to as the operation performed by one or multi-section computer
The step of and symbol illustrate, unless otherwise stating clearly.Therefore, it will appreciate that these steps and operation, be carried for several times wherein having
To be performed by computer, include by representing with the computer disposal list of the electronic signal of the data in a structuring pattern
Member is manipulated.This manipulation transforms data or the opening position being maintained in the memory system of the computer, it can match somebody with somebody again
Put or change the running of the computer in a manner familiar to those skilled in the art in addition.The data knot that the data are maintained
Structure is the provider location of the internal memory, and it has the particular characteristics as defined in the data format.But the principle of the invention is with above-mentioned
Word illustrates, it is not represented as a kind of limitation, those skilled in the art will appreciate that plurality of step as described below and
Operation also may be implemented among hardware.
The unmanned vehicle control method and control device of the present invention may be provided on various unmanned vehicles, so as to nobody
Aircraft carries out recovery operation to the flight position of unmanned vehicle in time after colliding.
Fig. 1 is refer to, Fig. 1 is the flow chart of the first preferred embodiment of the unmanned vehicle control method of the present invention.This
Above-mentioned unmanned vehicle can be used to be implemented for the unmanned vehicle control method of preferred embodiment, the unmanned vehicle controlling party
Method includes：
Step S101, by setting time interval, collect the Flight Condition Data of unmanned vehicle；
Step S102, according to current Flight Condition Data, judge whether unmanned vehicle collides；
Step S103, as unmanned vehicle collides, then obtain the unmanned vehicle of the first default recovery time point
Flight position data；
Step S104, using the flight position data of the unmanned vehicle of the first default recovery time point, to unmanned flight
Device carries out flight position recovery.
The following detailed description of the idiographic flow of each step of the unmanned vehicle control method of this preferred embodiment.
In step S101, unmanned vehicle presses the setting time interval of user preset, collects the flight of unmanned vehicle
Status data.Here Flight Condition Data includes but is not limited to the flying speed of unmanned vehicle.User can set according to demand
Interval of fixing time is installed, it is more accurate if desired for controlling, then setting time can be arranged at intervals smaller；If desired for control energy consumption compared with
It is few, then setting time can be arranged at intervals big.Then pass to step S102.
In step s 102, the current state of flight number of unmanned vehicle obtains according to step S101 unmanned vehicle
According to judging whether unmanned vehicle collides.As the current Flight Condition Data of unmanned vehicle and preset data difference compared with
Greatly, then judge that unmanned vehicle collides；Such as unmanned vehicle, current Flight Condition Data meets preparatory condition, then judges
Unmanned vehicle is in regular flight condition.Then pass to step S103.
In step s 103, as in step s 102 judged that unmanned vehicle collides, then unmanned vehicle acquisition the
The flight position data of the unmanned vehicle of 1 default recovery time point.Here the default recovery time point of first refers to collision hair
A preset time point before death；Flight position data include unmanned vehicle towards data, altitude information and airborne equipment
Status data etc..Then pass to step S104.
In step S104, the unmanned flight for the first default recovery time point that unmanned vehicle is obtained using step S103
The flight position data of device, carries out position recovery to unmanned vehicle, i.e. the flight position data of unmanned vehicle returns to the
State during 1 default recovery time point.
So complete the control process of the unmanned vehicle of the unmanned vehicle control method of this preferred embodiment.
The unmanned vehicle control method of this preferred embodiment uses unmanned vehicle after unmanned vehicle collides
Flight position data carry out unmanned vehicle flight position recover, avoid unmanned vehicle due to user maloperation send out
The possibility of raw secondary collision.
Fig. 2 is refer to, Fig. 2 is the flow chart of the second preferred embodiment of the unmanned vehicle control method of the present invention.This
Above-mentioned unmanned vehicle can be used to be implemented for the unmanned vehicle control method of preferred embodiment, the unmanned vehicle controlling party
Method includes：
Step S201, by setting time interval, collect the Flight Condition Data of unmanned vehicle；
Step S202, judges whether the flying speed of unmanned vehicle matches with flight control instruction；Such as unmanned vehicle
Flying speed and flight control instruction mismatch, then go to step S203；Flying speed such as unmanned vehicle is controlled with flight
Instructions match processed, then go to step S204；
Step S203, judge that unmanned vehicle collides；Then pass to step S206；
Step S204, judge whether unmanned vehicle is more than in the rate of change of the flying speed of at least two preset directions
In the first setting value；As whether rate of change of the unmanned vehicle in the flying speed of at least two preset directions is more than or equal to first
Setting value, then go to step S203；Rate of change such as the flying speed at least two preset directions of unmanned vehicle is less than
First setting value, then go to step S205；
Step S205, judge unmanned vehicle normal flight；
Step S206, obtain the flying speed before unmanned vehicle collision；
Step S207, the flying speed before being collided according to unmanned vehicle, the default recovery time point of setting first；
Step S208, obtain the flight position data of the unmanned vehicle of the first default recovery time point；
Step S209, using the flight position data of the unmanned vehicle of the first default recovery time point, to unmanned flight
Device carries out flight position recovery.
The following detailed description of the idiographic flow of each step of the unmanned vehicle control method of this preferred embodiment.
In step S201, unmanned vehicle presses the setting time interval of user preset, collects the flight shape of unmanned vehicle
State data.Here Flight Condition Data includes but is not limited to the flying speed of unmanned vehicle.User can be set according to demand
Setting time interval, it is more accurate if desired for controlling, then setting time can be arranged at intervals smaller；If desired for control energy consumption compared with
It is few, then setting time can be arranged at intervals big.Then pass to step S202.
In step S202, unmanned vehicle judgment step S201 obtains the flying speed of unmanned vehicle and flight controls
Whether instruction matches；Flying speed such as unmanned vehicle mismatches with flight control instruction, then goes to step S203；Such as nobody
The flying speed of aircraft matches with flight control instruction, then goes to step S204.
In step S204, as the flying speed of unmanned vehicle matches with flight control instruction, then unmanned vehicle is sentenced
Whether disconnected unmanned vehicle is more than or equal to the first setting value in the rate of change of the flying speed of at least two preset directions；Such as nobody
Aircraft is more than or equal to the first setting value in the rate of change of the flying speed of at least two preset directions, then goes to step S203；
Rate of change such as the flying speed at least two preset directions of unmanned vehicle is less than the first setting value；Then go to step
S205。
In step S205, unmanned vehicle normal flight is judged；
In step S203, as flying speed and the flight control instruction of unmanned vehicle mismatch, as flight directive is
Flight forward, the speed very little of the flight forward of unmanned vehicle, and the speed for rising or falling flight is very big.Then judge nobody
Aircraft collides.Then pass to step S206.
Or the rate of change of flying speed of the unmanned vehicle on three axial directions of XYZ axles is larger, such as flight forward speed
Diminish rapidly, while the rate of climb or decrease speed become rapidly big.When such as the rate of change is more than or equal to the first setting value, then judge
Unmanned vehicle collides and causes random multiple axial moving.Certainly here also can be by being touched to unmanned vehicle
Flight Condition Data when hitting carries out sample learning, so as to generate corresponding judgment rule.Then pass to step S206.
In step S206, due to judging that unmanned vehicle is collided, therefore unmanned vehicle obtains unmanned flight
Flying speed before device collision；Then pass to step S207.
In step S207, unmanned vehicle that unmanned vehicle is obtained according to step S206 collide before flying speed,
The default recovery time point of setting first.Specifically it may include following steps：
Unmanned vehicle judges whether the flying speed before unmanned vehicle collision is more than or equal to the second setting value；
Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then the very first time before setting collision
The time point of section is the first default recovery time point；Flying speed before being collided such as unmanned vehicle is less than the second setting value, then
The time point of second time period before colliding is set as the first default recovery time point.Wherein first time period was less than for the second time
Section.
The flight position data of unmanned vehicle can so be use up while the flight safety of unmanned vehicle is kept
It may return to and collide and be consistent before occurring.Therefore when the flying speed of unmanned vehicle is larger, recovery time section can be set
Put shorter；When the flying speed of unmanned vehicle is smaller, recovery time section can be set longer.As unmanned vehicle touches
When flying speed before hitting is 8 meter per second, then first time period can be 1 second；Flying speed before being collided such as unmanned vehicle is 2
During meter per second, then first time period can be 3 seconds.Then pass to step S208.
In step S208, the unmanned flight for the first default recovery time point that unmanned vehicle obtaining step S207 is obtained
The flight position data of device, the flight position data include but is not limited to unmanned vehicle towards data, altitude information and
Airborne equipment status data etc..Then pass to step S209.
In step S209, the unmanned flight for the first default recovery time point that unmanned vehicle is obtained using step S208
The flight position data of device, position recovery is carried out to unmanned vehicle, i.e., recovered unmanned vehicle to default recovery time point
Unmanned vehicle direction, height and/or airborne equipment state.
Preferably, here in order to avoid carrying out the recovery of mistake to flight position data, unmanned vehicle carries out flight position
When putting recovery, flight position recovery request can be sent to corresponding terminal, and the request-reply of receiving terminal；Such as the request should
Answer to agree to carry out flight position recovery, then unmanned vehicle carries out flight position recovery；Such as the request-reply for disagree into
Row flight position recovers, then unmanned vehicle continues corresponding flight operation.
The unmanned vehicle control method of this preferred embodiment also includes step：The flight position of record unmanned vehicle in real time
Put data and corresponding time point data.Because the flight position data of unmanned vehicle is a lasting data flow, it is
It is easy to obtain corresponding flight position data in time, needs exist for entering flight position data and corresponding time point data
Row implementation record.
Preferably, here can be with the flight position data of the whole flight course of completely recorded unmanned vehicle and corresponding
Time point data, by the way of mobile store, can also record the flight position data of unmanned vehicle and corresponding in real time
Time point data.It is straight more than 30s flight position data such as the flight position data of a nearest 30s of record unmanned vehicle
Connect and covered using newest data.The flight position data that can be returned to before collision can so be ensured, can be reduced again
Amount of data storage.
Preferably, the unmanned vehicle control method of this preferred embodiment can also directly receive the flight position recovery of user
Instruction, and flight position of the instruction using the unmanned vehicle of the prestore second default recovery time point is recovered according to the flight position
Data are put, flight position recovery is carried out to unmanned vehicle.When i.e. user has found that abnormal flight occurs in unmanned vehicle, Ke Yitong
Cross to send flight position recovery and instruct and directly the flight position data of unmanned vehicle is recovered, collided without waiting
Generation.The setting of specific second default recovery time point can be arranged as required to a longer time point.Certainly here
Instruction can be recovered according to flight position directly to recover unmanned vehicle to a pre-set flight state.
So complete the control process of the unmanned vehicle of the unmanned vehicle control method of this preferred embodiment.
On the basis of first preferred embodiment, the unmanned vehicle control method of this preferred embodiment is entered to collision
Go condition judgment, and different default recovery time points is set according to flying speed, further increase unmanned vehicle
The accuracy and validity that flight position recovers.
The present invention also provides a kind of unmanned vehicle control device, refer to Fig. 3, and Fig. 3 is the unmanned vehicle of the present invention
The structural representation of the first preferred embodiment of control device.On the unmanned vehicle control device of this preferred embodiment can be used
The unmanned vehicle control method stated is implemented.The unmanned vehicle control device 30 includes Flight Condition Data collection module
31st, collision judgment module 32, flight position data acquisition module 33 and flight position recovery module 34.
Flight Condition Data collection module 31 is used to press setting time interval, collects the state of flight number of unmanned vehicle
According to；Collision judgment module 32 is used to, according to the current Flight Condition Data, judge whether unmanned vehicle collides；Fly
Line position is put data acquisition module 33 and is used for as unmanned vehicle collides, then obtain the first default recovery time point nobody fly
The flight position data of row device；Flight position recovery module 34 is used for using the first unmanned vehicle for presetting recovery time point
Flight position data, flight position recovery is carried out to unmanned vehicle.
The unmanned vehicle control device 30 of this preferred embodiment is in use, Flight Condition Data collection module 31 is pressed first
The setting time interval of user preset, collect the Flight Condition Data of unmanned vehicle.Here Flight Condition Data include but
It is not limited to the flying speed of unmanned vehicle.User can set setting time interval according to demand, more accurate if desired for controlling,
Setting time can be then arranged at intervals smaller；It is less if desired for control energy consumption, then setting time can be arranged at intervals big.
Unmanned vehicle that subsequent collision judgment module 32 obtains according to Flight Condition Data collection module 31 is current to fly
Row status data, judges whether unmanned vehicle collides.Current Flight Condition Data and present count such as unmanned vehicle
According to differing greatly, then judge that unmanned vehicle collides；As the current Flight Condition Data of unmanned vehicle meets default bar
Part, then judge that unmanned vehicle is in regular flight condition.
Then as judged that unmanned vehicle collides, then flight position data acquisition module 33 obtains the first default recovery
The flight position data of the unmanned vehicle at time point.Here the first default recovery time point refer to collision occur before it is one pre-
If time point；Flight position data include unmanned vehicle towards data, altitude information and airborne equipment status data etc..
During the first default recovery that last flight position recovery module 34 is obtained using flight position data acquisition module 33
Between the flight position data of unmanned vehicle put, the flight position of position recovery, i.e. unmanned vehicle is carried out to unmanned vehicle
Data recovery is put to state during the first default recovery time point.
So complete the control process of the unmanned vehicle of the unmanned vehicle control device 30 of this preferred embodiment.
The unmanned vehicle control device of this preferred embodiment uses unmanned vehicle after unmanned vehicle collides
Flight position data carry out unmanned vehicle flight position recover, avoid unmanned vehicle due to user maloperation send out
The possibility of raw secondary collision.
Fig. 4 is refer to, Fig. 4 is the structural representation of the second preferred embodiment of the unmanned vehicle control device of the present invention
Figure.Above-mentioned unmanned vehicle control method can be used to be implemented for the unmanned vehicle control device of this preferred embodiment.The nothing
People's flying vehicles control device 40 includes Flight Condition Data collection module 41, collision judgment module 42, flight position data and obtained
Module 43, flight position recovery module 44 and logging modle 45.
The unmanned vehicle control device 40 of this preferred embodiment is in use, Flight Condition Data collection module 41 is pressed first
The setting time interval of user preset, collect the Flight Condition Data of unmanned vehicle.Here Flight Condition Data include but
It is not limited to the flying speed of unmanned vehicle.User can set setting time interval according to demand, more accurate if desired for controlling,
Setting time can be then arranged at intervals smaller；It is less if desired for control energy consumption, then setting time can be arranged at intervals big.
Subsequent collision judgment module 42 judge Flight Condition Data collection module obtain unmanned vehicle flying speed and
Whether flight control instruction matches；
Flying speed such as unmanned vehicle matches with flight control instruction, then collision judgment module 42 judges unmanned flight
Whether device is more than or equal to the first setting value in the rate of change of the flying speed of at least two preset directions；If unmanned vehicle is extremely
The rate of change of the flying speed of few two preset directions is less than the first setting value；Then collision judgment module 42 judges unmanned vehicle
Normal flight；
Flying speed and flight control instruction such as unmanned vehicle mismatch, if flight directive is flight forward, nobody
The speed very little of the flight forward of aircraft, and the speed for rising or falling flight is very big.Then collision judgment module 42 judges nothing
People's aircraft collides.
Or the rate of change of flying speed of the unmanned vehicle on three axial directions of XYZ axles is larger, such as flight forward speed
Diminish rapidly, while the rate of climb or decrease speed become rapidly big.When such as the rate of change is more than or equal to the first setting value, then collide
Judge module 42 judges that unmanned vehicle collides and causes random multiple axial moving.Certainly here also can be by nothing
Flight Condition Data when people's aircraft collides carries out sample learning, so as to generate corresponding judgment rule.
Due to judging that unmanned vehicle is collided, therefore flight position data acquisition module 43 obtains unmanned vehicle
Flying speed before collision.
Subsequent flight position data acquisition module 43 collided according to the unmanned vehicle of acquisition before flying speed, setting the
Default recovery time point.Specifically it may include：
Flight position data acquisition module 43 judges whether the flying speed before unmanned vehicle collision is more than or equal to second
Setting value；
Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then flight position data acquisition module
43 set the time point of the first time period before collision as the first default recovery time point；Flight before being collided such as unmanned vehicle
Speed is less than the second setting value, then flight position data acquisition module 43 set collision before second time period time point as first
Default recovery time point.Wherein first time period is less than second time period.
The flight position data of unmanned vehicle can so be use up while the flight safety of unmanned vehicle is kept
It may return to and collide and be consistent before occurring.Therefore when the flying speed of unmanned vehicle is larger, flight position data obtains
Module 43 can set recovery time section shorter；When the flying speed of unmanned vehicle is smaller, flight position data obtains
Module 43 can set recovery time section longer.When flying speed before being collided such as unmanned vehicle is 8 meter per second, then first
Period can be 1 second；When flying speed before being collided such as unmanned vehicle is 2 meter per second, then first time period can be 3 seconds.
Then flight position data acquisition module 43 obtains the flight position of the unmanned vehicle of the first default recovery time point
Put data, the flight position data include but is not limited to unmanned vehicle towards data, altitude information and airborne equipment shape
State data etc..Here airborne equipment status data includes acquisition parameters of shooting camera of unmanned vehicle etc..
During the first default recovery that last flight position recovery module 44 is obtained using flight position data acquisition module 43
Between the flight position data of unmanned vehicle put, position recovery is carried out to unmanned vehicle, i.e., by unmanned vehicle recover to
Direction, height and/or the airborne equipment state of the unmanned vehicle of default recovery time point.
Preferably, here in order to avoid carrying out the recovery of mistake to flight position data, unmanned vehicle carries out flight position
When putting recovery, flight position recovery module 44 can send flight position recovery request to corresponding terminal, and receiving terminal
Request-reply；Such as request-reply is agrees to carry out flight position recovery, then unmanned vehicle carries out flight position recovery；Such as this
Request-reply carries out flight position recovery to disagree, then unmanned vehicle continues corresponding flight operation.
The unmanned vehicle control device 40 of this preferred embodiment also includes logging modle 45, and logging modle 45 is used for real-time
Record the flight position data of unmanned vehicle and corresponding time point data.Due to the flight position data of unmanned vehicle
It is a lasting data flow, for the ease of obtaining corresponding flight position data in time, logging modle 45 is needed to flying here
Row position data and corresponding time point data are recorded in real time.
Preferably, logging modle 45 can be with the flight position number of the whole flight course of completely recorded unmanned vehicle here
According to this and corresponding time point data, by the way of also can using mobile storage, the flight position number of record unmanned vehicle in real time
According to this and corresponding time point data.Such as the flight position data of a nearest 30s of record unmanned vehicle, the flight more than 30s
Position data is directly covered using newest data.The flight position number that can be returned to before collision can so be ensured
According to amount of data storage can be reduced again.
Preferably, the flight position recovery module 44 of this preferred embodiment can also directly receive the flight position recovery of user
Instruction, and flight position of the instruction using the unmanned vehicle of the prestore second default recovery time point is recovered according to the flight position
Data are put, flight position recovery is carried out to unmanned vehicle.When i.e. user has found that abnormal flight occurs in unmanned vehicle, Ke Yitong
Cross to send flight position recovery and instruct and directly the flight position data of unmanned vehicle is recovered, collided without waiting
Generation.The setting of specific second default recovery time point can be arranged as required to a longer time point.Certainly here
Instruction can be recovered according to flight position directly to recover unmanned vehicle to a pre-set flight state.
So complete the control process of the unmanned vehicle of the unmanned vehicle control device 40 of this preferred embodiment.
On the basis of first preferred embodiment, the unmanned vehicle control device of this preferred embodiment enters to collision
Go condition judgment, and different default recovery time points is set according to flying speed, further increase unmanned vehicle
The accuracy and validity that flight position recovers.
The present invention unmanned vehicle control method and unmanned vehicle control device after unmanned vehicle collides,
The flight position that unmanned vehicle is carried out using the flight position data of unmanned vehicle is recovered；Solves existing unmanned flight
Device control method and control device can not carry out the technical problem of recovery operation to the state of flight of unmanned vehicle.
" component ", " module ", " system ", " interface ", " process " etc. are usually intended to as used herein the term
Refer to computer related entity：Hardware, the combination of hardware and software, software or executory software.For example, component can be but not
It is limited to run process on a processor, processor, object, executable application, thread, program and/or the computer performed.
By diagram, it can be component to run both application and controllers on the controller.One or more assemblies can have
It is in process and/or the thread of execution, and component can be located on a computer and/or be distributed in two or more meters
Between calculation machine.
There is provided herein the various operations of embodiment.In one embodiment, described one or more operations can be with structure
The computer-readable instruction stored on into one or more computer-readable mediums, it will make to succeed in one's scheme when being performed by electronic equipment
Calculate equipment and perform the operation.Describing the orders of some or all of operations, to should not be construed as to imply that these operations necessarily suitable
Sequence correlation.It will be appreciated by those skilled in the art that the alternative sequence of the benefit with this specification.Furthermore, it is to be understood that
Not all operation must exist in each embodiment provided in this article.
Moreover, word " preferable " used herein means serving as example, example or illustration.Feng Wen is described as " preferably
" any aspect or design be not necessarily to be construed as than other aspect or design it is more favourable.On the contrary, the use purport of word " preferable "
Concept is being proposed in a concrete fashion.Term "or" as used in this application is intended to mean the "or" included and non-excluded
"or".I.e., unless otherwise or clear from the context, " X means that nature includes any one of arrangement using A or B ".
That is, if X uses A；X uses B；Or X uses A and B both, then " X is met using A or B " in foregoing any example.
Moreover, although having shown and described the disclosure relative to one or more implementations, but this area skill
Art personnel are based on the reading to the specification and drawings and understand it will be appreciated that equivalent variations and modification.The disclosure include it is all this
The modifications and variations of sample, and be limited only by the scope of the following claims.In particular, to by said modules (such as element,
Resource etc.) various functions that perform, the term for describing such component is intended to correspond to the specified work(for performing the component
The random component (unless otherwise instructed) of energy (such as it is functionally of equal value), it is illustrated herein with execution in structure
The disclosure exemplary implementations in function open structure it is not equivalent.In addition, although the special characteristic of the disclosure
Through being disclosed relative to the only one in some implementations, but this feature can with such as can be to given or application-specific
For be it is expected and other one or more combinations of features of other favourable implementations.Moreover, with regard to term " comprising ", " tool
Have ", " containing " or its deformation be used in embodiment or claim for, such term be intended to with term
The similar mode of "comprising" includes.
Each functional unit in the embodiment of the present invention can be integrated in a processing module or unit list
Solely be physically present, can also two or more units be integrated in a module.Above-mentioned integrated module can both use
The form of hardware is realized, can also be realized in the form of software function module.If the integrated module is with software function
The form of module is realized and is used as independent production marketing or is situated between in use, a computer-readable storage can also be stored in
In matter.Storage medium mentioned above can be read-only storage, disk or CD etc..Above-mentioned each device or system, can be with
Perform the method in correlation method embodiment.
In summary, although the present invention is disclosed above with preferred embodiment, above preferred embodiment simultaneously is not used to limit
The system present invention, one of ordinary skill in the art, without departing from the spirit and scope of the present invention, it can make various changes and profit
Decorations, therefore protection scope of the present invention is defined by the scope that claim defines.
Claims (10)
- A kind of 1. unmanned vehicle control method, it is characterised in that including：By setting time interval, the Flight Condition Data of unmanned vehicle is collected；According to the current Flight Condition Data, judge whether the unmanned vehicle collides；The unmanned vehicle as described in collides, then obtains the flight position of the unmanned vehicle of the first default recovery time point Put data；AndUsing the flight position data of the unmanned vehicle of the described first default recovery time point, to the unmanned vehicle Carry out flight position recovery.
- 2. unmanned vehicle control method according to claim 1, it is characterised in that the Flight Condition Data includes institute State the flying speed of unmanned vehicle；It is described according to the Flight Condition Data, judge that the step of whether unmanned vehicle collides includes：Judge whether the flying speed of the unmanned vehicle matches with flight control instruction, if it does not match, judging the nothing People's aircraft collides；OrJudge whether the unmanned vehicle sets more than or equal to first in the rate of change of the flying speed of at least two preset directions Definite value, such as described rate of change are more than or equal to setting value, then judge that the unmanned vehicle collides.
- 3. unmanned vehicle control method according to claim 1, it is characterised in that described as the unmanned vehicle is sent out The step of flight position data of raw collision, the then unmanned vehicle of the default recovery time point of acquisition first, specifically includes：The unmanned vehicle as described in collides, and obtains the flying speed before the unmanned vehicle collision；Flying speed before being collided according to the unmanned vehicle, the described first default recovery time point of setting；AndObtain the flight position data of the unmanned vehicle of the described first default recovery time point.
- 4. unmanned vehicle control method according to claim 3, it is characterised in that described according to the unmanned vehicle Flying speed before collision, include the step of the described first default recovery time point of setting：Judge whether the flying speed before the unmanned vehicle collision is more than or equal to the second setting value；Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then sets first time period before the collision Time point be the described first default recovery time point；AndFlying speed before being collided such as unmanned vehicle is less than the second setting value, then set second time period before the collision when Between point be the described first default recovery time point；Wherein described first time period is less than the second time period.
- 5. unmanned vehicle control method according to claim 1, it is characterised in that the flight position data includes institute State unmanned vehicle towards data, altitude information and airborne equipment status data；The flight position data of the unmanned vehicle using the described first default recovery time point, to it is described nobody fly Row device carry out flight position recovery the step of be specially：The unmanned vehicle is recovered to direction, the height of the unmanned vehicle to the described first default recovery time point And/or airborne equipment state.
- 6. unmanned vehicle control method according to claim 1, it is characterised in that the unmanned vehicle control method Also include：The flight position data of the unmanned vehicle and corresponding time point data are recorded in real time.
- 7. unmanned vehicle control method according to claim 6, it is characterised in that it is described record in real time it is described nobody fly The step of flight position data of row device and corresponding time point data is specially：By the way of displacement stores, the flight position data and points of corresponding time of the unmanned vehicle are recorded in real time According to.
- 8. unmanned vehicle control method according to claim 1, it is characterised in that the unmanned vehicle control method Also include：The flight position recovery instruction of reception user, and recover to instruct according to the flight position, when presetting recovery using second Between the flight position data of the unmanned vehicle put, flight position recovery is carried out to the unmanned vehicle.
- A kind of 9. unmanned vehicle control device, it is characterised in that including：Flight Condition Data collection module, for by setting time interval, collecting the Flight Condition Data of unmanned vehicle；Collision judgment module, for according to the current Flight Condition Data, judging whether the unmanned vehicle touches Hit；Flight position data acquisition module, collided for such as described unmanned vehicle, then obtained for the first default recovery time The flight position data of the unmanned vehicle of point；AndFlight position recovery module, the flight position for the unmanned vehicle using the described first default recovery time point Data, flight position recovery is carried out to the unmanned vehicle.
- 10. unmanned vehicle control device according to claim 9, it is characterised in that the flight position data obtains Module is specifically used for：The unmanned vehicle as described in collides, and obtains the flying speed before the unmanned vehicle collision；Judge whether the flying speed before the unmanned vehicle collision is more than or equal to the second setting value；Flying speed before being collided such as unmanned vehicle is more than or equal to the second setting value, then sets first time period before the collision Time point be the described first default recovery time point；Flying speed before being collided such as unmanned vehicle is less than the second setting value, then set second time period before the collision when Between point be the described first default recovery time point；Wherein described first time period is less than the second time period；AndObtain the flight position data of the unmanned vehicle of the described first default recovery time point.
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| CN106227233B (en) * | 2016-08-31 | 2019-11-15 | 北京小米移动软件有限公司 | The control method and device of flight equipment |
| CN107368071B (en) * | 2017-07-17 | 2020-11-06 | 纳恩博（北京）科技有限公司 | Abnormity recovery method and electronic equipment |
| CN108089597B (en) * | 2017-12-29 | 2021-06-11 | 易瓦特科技股份公司 | Method and device for controlling unmanned aerial vehicle based on ground station |
| CN108375953B (en) * | 2018-03-26 | 2020-12-22 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle state monitoring method, device and system |
| CN108733074A (en) * | 2018-05-23 | 2018-11-02 | 南京航空航天大学 | A kind of multiple no-manned plane formation path planning method based on Hungary Algorithm |
| CN108549408B (en) * | 2018-05-29 | 2021-03-30 | 四川九洲空管科技有限责任公司 | Automatic anti-collision ground track planning method and system |
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