CN105652890A - Unmanned aerial vehicle control method and device - Google Patents
Unmanned aerial vehicle control method and device Download PDFInfo
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- CN105652890A CN105652890A CN201610066533.9A CN201610066533A CN105652890A CN 105652890 A CN105652890 A CN 105652890A CN 201610066533 A CN201610066533 A CN 201610066533A CN 105652890 A CN105652890 A CN 105652890A
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- unmanned plane
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- gps
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- aerial vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention provides an unmanned aerial vehicle control method and device. The unmanned aerial vehicle control method comprises the following steps: an unmanned aerial vehicle periodically acquires GPS position information of an operator from a GPS module in a remote controller of the operator; when the GPS position information of the operator is acquired, the unmanned aerial vehicle calculates distance dc between the unmanned aerial vehicle and the operator according to the GPS position information of the operator and current GPS position information of the unmanned aerial vehicle; and the unmanned aerial vehicle searches a safe target point which can be arrived fastest according to dc and a preset minimum safe distance ds between the unmanned aerial vehicle and the operator when finding that the current unmanned aerial vehicle is located in a preset safety-sensitive region, and the unmanned aerial vehicle starts to fly in the direction of the safe target point. The unmanned aerial vehicle control method and device provided by the invention have the advantage that the flight safety of the unmanned aerial vehicle is improved.
Description
Technical field
The application relates to unmanned plane field, relates in particular to a kind of unmanned aerial vehicle (UAV) control method and apparatus.
Background technology
In recent ten years, unmanned plane be widely used in taking photo by plane photography, electric inspection process, environmental monitoring,The fields such as forest fire protection, the condition of a disaster inspection, anti-probably lifesaving, military surveillance, battle assessment, have effectively overcomeThe deficiency of manned aircraft aerial work, reduced purchase and maintenance cost, improved delivery vehicleSecurity.
When unmanned plane aerial work, real flight environment of vehicle is difficult to precognition completely, is faced with mountain range, buildingThe constraint of the tangible barriers such as thing, trees, transmission line of electricity, and the invisible obstacle such as no-fly zone, hazardous areaThe constraint of thing; While it should be noted that due to unmanned plane aerial work, also need operator's hand-held remote controlDevice is controlled the flight of unmanned plane, and now, operator in fact also belongs to the tangible obstacle of unmanned planeThing, in order to ensure operator's safety, also for fear of damaging unmanned plane, is necessary for unmanned plane design and closesThe flight path of reason.
Summary of the invention
The embodiment of the present application provides unmanned aerial vehicle (UAV) control method and apparatus, to improve the flight safety of unmanned planeProperty.
The application's technical scheme is achieved in that
A kind of unmanned aerial vehicle (UAV) control method, the method comprises:
The GPS position that unmanned plane periodically obtains operator to the GPS module in operator's remote controllerPut information;
In the time getting operator's GPS positional information, unmanned plane is according to operator's GPS position letterThe GPS positional information of breath and current unmanned plane, calculates the distance d between this unmanned plane and operatorc；
When unmanned plane is according to dcWhile finding that current unmanned plane is positioned at default security sensitive region, unmanned plane basisdcAnd the minimum safe distance d between default unmanned plane and operators, searching can be fastest to the safety reachingImpact point, starts the direction flight towards this Security Target point.
A kind of unmanned aerial vehicle (UAV) control device, is positioned on unmanned plane, and this device comprises:
GPS acquisition of information module: periodically obtain operation to the GPS module in operator's remote controllerMember's GPS positional information;
Computing module: the operator's who obtains according to GPS acquisition of information module GPS positional information with work asThe GPS positional information of front unmanned plane, calculates the distance d between this unmanned plane and operatorc; Work as basisdcWhile finding that current unmanned plane is positioned at default security sensitive region, according to dcWith default unmanned plane and behaviourMinimum safe distance d between work persons, searching can, fastest to the Security Target point reaching, start towards this peaceThe direction flight of full impact point.
Visible, in the embodiment of the present application, when unmanned plane is sent out according to the distance between this unmanned plane and operatorExisting self being positioned at while presetting security sensitive region, according to the distance between this unmanned plane and operator and pre-If unmanned plane and operator between minimum safe distance, searching can be fastest to the Security Target reachingPoint, starts the direction flight towards this Security Target point, thereby has avoided the injury to operator, also avoidsDamage this unmanned plane, improved flight safety.
Brief description of the drawings
The unmanned aerial vehicle (UAV) control method flow diagram that Fig. 1 provides for the application one embodiment;
The unmanned aerial vehicle (UAV) control method flow diagram that Fig. 2 provides for another embodiment of the application;
The calculating schematic diagram of the impact point that Fig. 3 provides for the application's application example;
The composition schematic diagram of the unmanned aerial vehicle (UAV) control device that Fig. 4 provides for the embodiment of the present application.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail.
The unmanned aerial vehicle (UAV) control method flow diagram that Fig. 1 provides for the application one embodiment, its concrete steps are as follows:
Step 101: unmanned plane is periodically to the GPS (GlobalPositioning in operator's remote controllerSystem, global positioning system) module obtains operator's GPS positional information.
Step 102: in the time getting operator's GPS positional information, unmanned plane is according to operator'sThe GPS positional information of GPS positional information and current unmanned plane, calculates between this unmanned plane and operatorDistance dc。
Step 103: when unmanned plane is according to dcWhile finding that current unmanned plane is positioned at default security sensitive region,Unmanned plane is according to dcAnd the minimum safe distance d between default unmanned plane and operators, searching can be the fastestThe Security Target point arriving, starts the direction flight towards this Security Target point.
In one embodiment, unmanned plane is according to dcFind that current unmanned plane is positioned at default security sensitive region and comprises:
Unmanned plane judges ds<dc<2dsWhether set up, if set up, confirm that current unmanned plane is positioned at default peaceFull sensitizing range, wherein, dsFor the minimum safe distance between default unmanned plane and operator.
In one embodiment, unmanned plane is according to dcAnd the minimum safe distance between default unmanned plane and operatords, searching can comprise fastest to the Security Target point reaching:
Calculating operation person arrives the angle theta between the line of Security Target point to line and the operator of unmanned plane:
θ＝arccos(dc/2ds)
Wherein, arccos is anti-cosine transform operator;
Calculate r=π/2 – θ;
Calculate the GPS component d of unmanned plane to Security Target pointh：
dh＝ds×cosr
Wherein, cos is cosine transform operator;
Calculate the two GPS component d of unmanned plane to Security Target pointv：
dv＝dc/2；
According to operator's GPS positional information and dh、dv, the positional information of computationally secure impact point.
In one embodiment, remote controller is positioned on mobile terminal.
The unmanned aerial vehicle (UAV) control method flow diagram that Fig. 2 provides for another embodiment of the application, its concrete steps asUnder:
Step 200: unmanned plane is preserved the minimum peace between keeper pre-configured unmanned plane and operatorFull distance value ds。
Step 201: unmanned plane is periodically to the GPS module query manipulation person's of operator's remote controller GPSPositional information.
Step 202: in the time that unmanned plane inquires operator's GPS positional information, according to operator's GPSThe GPS positional information of current the unmanned plane that the GPS module that positional information and this unmanned plane carry is measured,Distance d between calculating operation person and this unmanned planec。
Step 203: unmanned plane judges ds<dc<2dsWhether set up, if so, perform step 204; Otherwise, noBe for further processing.
Step 204: unmanned plane calculating operation person arrives between the line of impact point to line and the operator of unmanned planeAngle theta:
θ＝arccos(dc/2ds)
Wherein, arccos is anti-cosine transform operator;
Step 205: unmanned plane calculates r=π/2 – θ.
Step 206: unmanned plane calculates the GPS component d of this unmanned plane to impact pointh：
dh＝ds×cosr
Wherein, cos is cosine transform operator;
Meanwhile, calculate the two GPS component d of this unmanned plane to impact pointv：
dv＝dc/2。
Step 207: unmanned plane is according to operator's GPS positional information and dh、dv, the position of calculating impact pointPut information.
As shown in Figure 3, in a certain moment, unmanned plane has inquired operator's GPS from operator's remote controllerPositional information, this position is the B point position in Fig. 3, and now, unmanned plane position is Fig. 3In A point position, unmanned plane calculates the distance d between A, BcIf, ds<dc<2ds: according toFollowing principle is found the position of impact point D: the distance that D point is ordered to A is minimum safe distance, and from APoint is adjusted to D and order the shortest time spending, and based on this principle, it is as follows that inventor expects that D point should pass throughMode is determined:
Respectively taking A point, B point as the center of circle, with dsFor radius is made two circles, two of these two circles intersection pointsIn any one all can be used as D point, wherein, the computational process of the position that D is ordered is as follows:
If the mid point of line segment AB is C, connect C, D 2 points, the angle theta of AB and BD is:
θ＝arccos(BC/BD)＝arccos((dc/2)/ds)
R=π/2 – θ;
BE＝dh＝BD×cosr＝ds×cosr；
DE＝dv＝BD×sinr＝ds×sinr＝dc/2；
The position of ordering according to B and dh、dv, can calculate the position of impact point D,
If using another intersection point D ' of two circles as impact point, the meter of the computational process of the position of D ' and the position of DCalculation process is identical.
Step 208: unmanned plane, according to the positional information of the impact point calculating, is adjusted the heading of self,Fly to impact point direction.
It should be noted that, in actual applications, unmanned plane can be updated periodically the position letter of impact point DBreath, to adjust heading, the update cycle is ms (millisecond) level, still, the GPS of operator's remote controllerModule is generally s (second) level to the cycle of unmanned plane feedback operation person's GPS positional information, as: 1s, thisSample, in the application, the distance d between unmanned plane and operatorcAt 2dsWith dsBetween time, although, nothingThe man-machine positional information of upgrading impact point D taking Millisecond as the cycle that remains, but in fact, impact pointThe positional information of D taking second level there is real change as the cycle.
The useful technique effect of the embodiment of the present application is as follows:
In the embodiment of the present application, when unmanned plane is found self according to the distance between this unmanned plane and operatorWhile being positioned at default security sensitive region, according to the distance between this unmanned plane and operator and default nothingMinimum safe distance between man-machine and operator, searching can, fastest to the Security Target point reaching, startTowards the direction flight of this Security Target point, thereby avoid as much as possible the injury to operator, also avoidedDamage this unmanned plane, improved flight safety.
The composition schematic diagram of the unmanned aerial vehicle (UAV) control device that Fig. 4 provides for the application one embodiment, this device is positioned atOn unmanned plane, this device mainly comprises: GPS acquisition of information module and computing module, wherein:
GPS acquisition of information module: periodically obtain operation to the GPS module in operator's remote controllerMember's GPS positional information, sends to computing module by the operator's who gets GPS positional information.
Computing module: the operator's who sends according to GPS acquisition of information module GPS positional information with fromThe GPS positional information of current the unmanned plane that the GPS module of this unmanned plane is obtained, calculates this unmanned planeAnd the distance d between operatorc; When according to dcWhile finding that current unmanned plane is positioned at default security sensitive region,According to dcAnd the minimum safe distance d between default unmanned plane and operators, searching can be fastest to reachingSecurity Target point, starts the direction flight towards this Security Target point.
In one embodiment, computing module is according to dcFind that current unmanned plane is positioned at default security sensitive region bagDraw together:
Judge ds<dc<2dsWhether set up, if set up, confirm that current unmanned plane is positioned at default security sensitiveRegion, wherein, dsFor the minimum safe distance between default unmanned plane and operator.
In one embodiment, computing module is according to dcAnd the minimum safe distance between default unmanned plane and operatorFrom ds, searching can comprise fastest to the Security Target point reaching:
Calculating operation person arrives the angle theta between the line of Security Target point to line and the operator of unmanned plane:
θ＝arccos(dc/2ds)
Wherein, arccos is anti-cosine transform operator;
Calculate r=π/2 – θ;
Calculate the GPS component d of unmanned plane to Security Target pointh：
dh＝ds×cosr
Wherein, cos is cosine transform operator;
Calculate the two GPS component d of unmanned plane to Security Target pointv：
dv＝dc/2；
According to operator's GPS positional information and dh、dv, the positional information of computationally secure impact point.
The foregoing is only the application's preferred embodiment, not in order to limit the application, all at thisWithin the spirit and principle of application, any amendment of making, be equal to replacement, improvement etc., all should be included inWithin the scope of the application's protection.
Claims (7)
1. a unmanned aerial vehicle (UAV) control method, is characterized in that, the method comprises:
Unmanned plane periodically obtains behaviour to the global position system GPS module in operator's remote controllerWork person's GPS positional information;
In the time getting operator's GPS positional information, unmanned plane is according to operator's GPS position letterThe GPS positional information of breath and current unmanned plane, calculates the distance d between this unmanned plane and operatorc；
When unmanned plane is according to dcWhile finding that current unmanned plane is positioned at default security sensitive region, unmanned plane basisdcAnd the minimum safe distance d between default unmanned plane and operators, searching can be fastest to the safety reachingImpact point, starts the direction flight towards this Security Target point.
2. method according to claim 1, is characterized in that, described unmanned plane is according to dcFind to work asFront unmanned plane is positioned at default security sensitive region and comprises:
Unmanned plane judges ds<dc<2dsWhether set up, if set up, confirm that current unmanned plane is positioned at default peaceFull sensitizing range,
Wherein, dsFor the minimum safe distance between default unmanned plane and operator.
3. method according to claim 1 and 2, is characterized in that, described unmanned plane is according to dcWithMinimum safe distance d between default unmanned plane and operators, searching can be fastest to the Security Target reachingPoint comprises:
Calculating operation person arrives the angle theta between the line of Security Target point to line and the operator of unmanned plane:
θ＝arccos(dc/2ds)
Wherein, arccos is anti-cosine transform operator;
Calculate r=π/2 – θ;
Calculate the GPS component d of unmanned plane to Security Target pointh：
dh＝ds×cosr
Wherein, cos is cosine transform operator;
Calculate the two GPS component d of unmanned plane to Security Target pointv：
dv＝dc/2；
According to operator's GPS positional information and dh、dv, the positional information of computationally secure impact point.
4. method according to claim 3, is characterized in that, described remote controller is positioned at mobile terminalOn.
5. a unmanned aerial vehicle (UAV) control device, is positioned on unmanned plane, it is characterized in that, this device comprises:
Global position system GPS acquisition of information module: periodically to the GPS in operator's remote controllerModule is obtained operator's GPS positional information;
Computing module: the operator's who obtains according to GPS acquisition of information module GPS positional information with work asThe GPS positional information of front unmanned plane, calculates the distance d between this unmanned plane and operatorc; Work as rootAccording to dcWhile finding that current unmanned plane is positioned at default security sensitive region, according to dcWith default unmanned plane and behaviourMinimum safe distance d between work persons, searching can, fastest to the Security Target point reaching, start towards this safetyThe direction flight of impact point.
6. device according to claim 5, is characterized in that, described computing module is according to dcFindCurrent unmanned plane is positioned at default security sensitive region and comprises:
Judge ds<dc<2dsWhether set up, if set up, confirm that current unmanned plane is positioned at default security sensitiveRegion,
Wherein, dsFor the minimum safe distance between default unmanned plane and operator.
7. according to the device described in claim 5 or 6, it is characterized in that, described computing module is according to dcAnd the minimum safe distance d between default unmanned plane and operators, searching can be fastest to the safe order reachingPunctuate comprises:
Calculating operation person arrives the angle theta between the line of Security Target point to line and the operator of unmanned plane:
θ＝arccos(dc/2ds)
Wherein, arccos is anti-cosine transform operator;
Calculate r=π/2 – θ;
Calculate the GPS component d of unmanned plane to Security Target pointh：
dh＝ds×cosr
Wherein, cos is cosine transform operator;
Calculate the two GPS component d of unmanned plane to Security Target pointv：
dv＝dc/2；
According to operator's GPS positional information and dh、dv, the positional information of computationally secure impact point.
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| CN105652890B (en) | 2019-02-15 |
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