CN105652890B - A kind of unmanned aerial vehicle (UAV) control method and apparatus - Google Patents
A kind of unmanned aerial vehicle (UAV) control method and apparatus Download PDFInfo
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- CN105652890B CN105652890B CN201610066533.9A CN201610066533A CN105652890B CN 105652890 B CN105652890 B CN 105652890B CN 201610066533 A CN201610066533 A CN 201610066533A CN 105652890 B CN105652890 B CN 105652890B
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- unmanned plane
- operator
- target point
- gps
- security target
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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 application proposes a kind of unmanned aerial vehicle (UAV) control method and apparatus.Method includes: the GPS position information that GPS module of the unmanned plane periodically into the remote controler of operator obtains operator；When getting the GPS position information of operator, unmanned plane calculates the distance between this unmanned plane and operator d according to the GPS position information of operator and the GPS position information of this current unmanned planec；When unmanned plane is according to dcIt was found that unmanned plane is according to d when this current unmanned plane is located at default security sensitive regioncMinimum safe distance d between preset unmanned plane and operators, finding can start to fly towards the direction of the security target point fastest to the security target point reached.The application improves the flight safety of unmanned plane.
Description
Technical field
This application involves unmanned plane field more particularly to a kind of unmanned aerial vehicle (UAV) control method and apparatus.
Background technique
In recent ten years, unmanned plane has been widely used in take photo by plane photography, electric inspection process, environmental monitoring, forest fire protection, calamity
The fields such as feelings inspection, anti-terrorism lifesaving, military surveillance, battle assessment, effectively overcome the deficiency of manned aircraft aerial work,
Purchase and maintenance cost are reduced, the safety of delivery vehicle is improved.
When unmanned plane aerial work, true flight environment of vehicle is difficult to predict completely, is faced with mountain range, building, trees, defeated
The constraint of the invisible barrier such as the constraint of the tangible barrier such as electric line and no-fly zone, danger area；It should be noted that by
When unmanned plane aerial work, it is also necessary to which operator's hand-held remote controller controls the flight of unmanned plane, at this point, operator is real
The tangible barrier of unmanned plane is also belonged on border, in order to guarantee the safety of operator, also for avoid damage unmanned plane, it is necessary to be
The reasonable flight path of unmanned aerial vehicle design.
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 plane.
The technical solution of the application is achieved in that
A kind of unmanned aerial vehicle (UAV) control method, this method comprises:
Periodically GPS module into the remote controler of operator obtains the GPS position information of operator to unmanned plane；
When getting the GPS position information of operator, unmanned plane is according to the GPS position information of operator and this current nothing
Man-machine GPS position information calculates the distance between this unmanned plane and operator dc；
When unmanned plane is according to dcIt was found that unmanned plane is according to d when this current unmanned plane is located at default security sensitive regioncWith it is pre-
If unmanned plane and operator between minimum safe distance ds, finding can start fastest to the security target point reached towards this
It flies in the direction of security target point.
A kind of unmanned aerial vehicle (UAV) control device is located on unmanned plane, which includes:
GPS information obtains module: periodically the GPS module into the remote controler of operator obtains the position GPS of operator
Confidence breath；
Computing module: the GPS position information and currently this unmanned plane of the operator that module obtains are obtained according to GPS information
GPS position information calculates the distance between this unmanned plane and operator dc；When according to dcIt is preset it was found that this current unmanned plane is located at
When security sensitive region, according to dcMinimum safe distance d between preset unmanned plane and operators, searching can be fastest to
The security target point reached starts to fly towards the direction of the security target point.
As it can be seen that in the embodiment of the present application, when unmanned plane finds itself position according to the distance between this unmanned plane and operator
When default security sensitive region, according to the distance between this unmanned plane and operator and preset unmanned plane and operator it
Between minimum safe distance, find can fastest to the security target point reached, start towards the security target point direction fly, from
And the injury to operator is avoided, it also avoids damaging this unmanned plane, improves flight safety.
Detailed description of the invention
Fig. 1 is the unmanned aerial vehicle (UAV) control method flow diagram that one embodiment of the application provides；
Fig. 2 is the unmanned aerial vehicle (UAV) control method flow diagram that another embodiment of the application provides；
Fig. 3 is the calculating schematic diagram for the target point that the application application example provides；
Fig. 4 is the composition schematic diagram of unmanned aerial vehicle (UAV) control device provided by the embodiments of the present application.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further described in more detail.
Fig. 1 is the unmanned aerial vehicle (UAV) control method flow diagram that one embodiment of the application provides, the specific steps of which are as follows:
Step 101: unmanned plane periodically (the Global Positioning of the GPS into the remote controler of operator
System, global positioning system) module obtain operator GPS position information.
Step 102: when getting the GPS position information of operator, unmanned plane according to the GPS position information of operator with
The GPS position information of this current unmanned plane, calculates the distance between this unmanned plane and operator dc。
Step 103: when unmanned plane is according to dcIt was found that when this current unmanned plane is located at default security sensitive region, unmanned plane root
According to dcMinimum safe distance d between preset unmanned plane and operators, finding can open fastest to the security target point reached
Begin to fly towards the direction of the security target point.
In one embodiment, unmanned plane is according to dcIt was found that this current unmanned plane includes: positioned at default security sensitive region
Unmanned plane judges ds<dc<2dsIt is whether true, if so, then confirm that this current unmanned plane is located at default security sensitive
Region, wherein dsFor the minimum safe distance between preset unmanned plane and operator.
In one embodiment, unmanned plane is according to dcMinimum safe distance d between preset unmanned plane and operators, find
Can include: fastest to the security target point reached
Calculating operation person is to the line of unmanned plane and operator to the angle theta between the line of security target point:
θ=arccos (dc/2ds)
Wherein, arccos is anti-cosine transform operator；
Calculate r=pi/2-θ；
First GPS component d of the calculating unmanned plane to security target pointh:
dh=ds×cosr
Wherein, cos is cosine transform operation symbol；
Twoth GPS component d of the calculating unmanned plane to security target pointv:
dv=dc/2；
According to the GPS position information and d of operatorh、dv, calculate the location information of security target point.
In one embodiment, remote controler is located on mobile terminal.
Fig. 2 is the unmanned aerial vehicle (UAV) control method flow diagram that another embodiment of the application provides, the specific steps of which are as follows:
Step 200: the minimum safe distance value between the preconfigured unmanned plane of unmanned plane preservation management person and operator
ds。
Step 201: unmanned plane is periodically believed to the GPS location of the GPS module inquiry operation person of the remote controler of operator
Breath.
Step 202: when unmanned plane inquires the GPS position information of operator, according to the GPS position information of operator with
And the GPS position information of this current unmanned plane of the included GPS module measurement of this unmanned plane, calculating operation person and this unmanned plane it
Between distance dc。
Step 203: unmanned plane judges ds<dc<2dsIt is whether true, if so, executing step 204；Otherwise, do not locate further
Reason.
Step 204: the line of unmanned plane calculating operation person to unmanned plane and operator are to the folder between the line of target point
Angle θ:
θ=arccos (dc/2ds)
Wherein, arccos is anti-cosine transform operator；
Step 205: unmanned plane calculates r=pi/2-θ.
Step 206: unmanned plane calculates the first GPS component d that this unmanned plane arrives target pointh:
dh=ds×cosr
Wherein, cos is cosine transform operation symbol；
Meanwhile calculating the 2nd GPS component d that this unmanned plane arrives target pointv:
dv=dc/2。
Step 207: unmanned plane is according to the GPS position information and d of operatorh、dv, calculate the location information of target point.
As shown in figure 3, a certain moment, unmanned plane has inquired the GPS position information of operator from the remote controler of operator,
The position is the B point position in Fig. 3, at this point, unmanned plane position is the A point position in Fig. 3, unmanned plane meter
Calculate the distance between A, B dcIf ds<dc<2ds, then: find the position of target point D according to following principle: D point to A point away from
From for minimum safe distance, and it is most short from A point to be adjusted to D point the time it takes, is based on the principle, inventor expects that D point is answered
This is determined as follows:
Respectively using A point, B point as the center of circle, with dsMake two circles for radius, then it is any one in two round two intersection points
It is a all to can be used as D point, wherein the calculating process of the position of D point is as follows:
If the midpoint of line segment AB is C, then C, D two o'clock are connected, then the angle theta of AB and BD are as follows:
θ=arccos (BC/BD)=arccos ((dc/2)/ds)
Then r=pi/2-θ；
BE=dh=BD × cosr=ds×cosr；
DE=dv=BD × sinr=ds× sinr=dc/2；
Then according to the position of B point and dh、dv, the position of target point D can be calculated,
If regarding another intersection point D ' of two circles as target point, the calculating process of the position of the calculating process and D of the position of D '
It is identical.
Step 208: unmanned plane adjusts the heading of itself according to the location information of calculated target point, to target
The flight of point direction.
It should be noted that in practical applications, unmanned plane can be updated periodically the location information of target point D, to adjust
Whole heading, update cycle are ms (millisecond) grade, and still, the GPS module of the remote controler of operator is to unmanned plane feedback operation
The period of the GPS position information of member is usually s (second) grade, such as: 1s, in this way, in the application, when between unmanned plane and operator
Distance dcIn 2dsWith dsBetween when, although unmanned plane is still the location information for updating target point D using Millisecond as the period,
But substantially, it is to occur in the period really to change that the location information of target point D, which is with second grade,.
The advantageous effects of the embodiment of the present application are as follows:
In the embodiment of the present application, preset when unmanned plane finds that itself is located at according to the distance between this unmanned plane and operator
When security sensitive region, according between the distance between this unmanned plane and operator and preset unmanned plane and operator most
Small safe distance, finding can start to fly towards the direction of the security target point, to the greatest extent may be used fastest to the security target point reached
The injury to operator is avoided to energy, also avoids damaging this unmanned plane, improves flight safety.
Fig. 4 is the composition schematic diagram for the unmanned aerial vehicle (UAV) control device that one embodiment of the application provides, which is located at unmanned plane
On, the device mainly includes: GPS information obtains module and computing module, in which:
GPS information obtains module: periodically the GPS module into the remote controler of operator obtains the position GPS of operator
Confidence breath, the GPS position information for the operator that will acquire are sent to computing module.
Computing module: according to GPS information obtain the GPS position information of operator that module is sent with from this unmanned plane
The GPS position information for this current unmanned plane that GPS module obtains, calculates the distance between this unmanned plane and operator dc；Work as root
According to dcIt was found that when this current unmanned plane is located at default security sensitive region, according to dcBetween preset unmanned plane and operator
Minimum safe distance ds, finding can start to fly towards the direction of the security target point fastest to the security target point reached.
In one embodiment, computing module is according to dcIt was found that this current unmanned plane includes: positioned at default security sensitive region
Judge ds<dc<2dsIt is whether true, if so, then confirm that this current unmanned plane is located at default security sensitive region,
In, dsFor the minimum safe distance between preset unmanned plane and operator.
In one embodiment, computing module is according to dcMinimum safe distance d between preset unmanned plane and operators, seek
Looking for can include: fastest to the security target point reached
Calculating operation person is to the line of unmanned plane and operator to the angle theta between the line of security target point:
θ=arccos (dc/2ds)
Wherein, arccos is anti-cosine transform operator；
Calculate r=pi/2-θ；
First GPS component d of the calculating unmanned plane to security target pointh:
dh=ds×cosr
Wherein, cos is cosine transform operation symbol；
Twoth GPS component d of the calculating unmanned plane to security target pointv:
dv=dc/2；
According to the GPS position information and d of operatorh、dv, calculate the location information of security target point.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (7)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that this method comprises:
Periodically global position system GPS module into the remote controler of operator obtains the GPS location of operator to unmanned plane
Information；
When getting the GPS position information of operator, GPS position information and current this unmanned plane of the unmanned plane according to operator
GPS position information, calculate the distance between this unmanned plane and operator dc；
When unmanned plane is according to dcIt was found that unmanned plane is according to d when this current unmanned plane is located at default security sensitive regioncWith it is preset
Minimum safe distance d between unmanned plane and operators, finding can start fastest to the security target point reached towards the safety
It flies in the direction of target point；
The unmanned plane is according to dcMinimum safe distance d between preset unmanned plane and operators, searching can be fastest to
The security target point reached includes:
Calculating operation person is to the line of unmanned plane and operator to the angle theta between the line of security target point；
According to the minimum safe distance d between angle theta and preset unmanned plane and operatorsUnmanned plane is calculated to security target point
The first GPS component dh；
According to distance dcTwoth GPS component d of the calculating unmanned plane to security target pointv:
According to the GPS position information and d of operatorh、dv, calculate the location information of security target point.
2. the method according to claim 1, wherein the unmanned plane is according to dcIt was found that this current unmanned plane is located at
Default security sensitive region includes:
Unmanned plane judges ds<dc<2dsIt is whether true, if so, then confirm that this current unmanned plane is located at default security sensitive region,
Wherein, dsFor the minimum safe distance between preset unmanned plane and operator.
3. method according to claim 1 or 2, which is characterized in that the line of the calculating operation person to unmanned plane and behaviour
Work person includes: to the angle theta between the line of security target point
θ=arccos (dc/2ds)
Wherein, arccos is anti-cosine transform operator；
The minimum safe distance d according between angle theta and preset unmanned plane and operatorsUnmanned plane is calculated to safe mesh
First GPS component d of punctuatehInclude:
dh=ds×cosr
Wherein, r=pi/2-θ, cos are cosine transform operation symbol；
Twoth GPS component d of the calculating unmanned plane to security target pointvInclude:
dv=dc/2。
4. according to the method described in claim 3, it is characterized in that, the remote controler is located on mobile terminal.
5. a kind of unmanned aerial vehicle (UAV) control device, it is located on unmanned plane, which is characterized in that the device includes:
Global position system GPS data obtaining module: periodically the GPS module into the remote controler of operator obtains operator
GPS position information；
Computing module: the GPS position information for the operator that module obtains and the GPS of this current unmanned plane are obtained according to GPS information
Location information calculates the distance between this unmanned plane and operator dc；When according to dcIt was found that this current unmanned plane is located at default safety
When sensitizing range, according to dcMinimum safe distance d between preset unmanned plane and operators, finding can be fastest to reaching
Security target point starts to fly towards the direction of the security target point；
The computing module is according to dcMinimum safe distance d between preset unmanned plane and operators, searching can be most fast
The security target point of arrival includes:
Calculating operation person is to the line of unmanned plane and operator to the angle theta between the line of security target point；
According to the minimum safe distance d between angle theta and preset unmanned plane and operatorsUnmanned plane is calculated to security target point
The first GPS component dh；
According to distance dcTwoth GPS component d of the calculating unmanned plane to security target pointv:
According to the GPS position information and d of operatorh、dv, calculate the location information of security target point.
6. device according to claim 5, which is characterized in that the computing module is according to dcIt was found that this current unmanned seat in the plane
Include: in default security sensitive region
Judge ds<dc<2dsIt is whether true, if so, then confirm that this current unmanned plane is located at default security sensitive region,
Wherein, dsFor the minimum safe distance between preset unmanned plane and operator.
7. device according to claim 5 or 6, which is characterized in that the computing module calculating operation person arrives unmanned plane
Line and operator include: to the angle theta between the line of security target point
θ=arccos (dc/2ds)
Wherein, arccos is anti-cosine transform operator；
The minimum safe distance d according between angle theta and preset unmanned plane and operatorsUnmanned plane is calculated to safe mesh
First GPS component d of punctuatehInclude:
dh=ds×cosr
Wherein, r=pi/2-θ, cos are cosine transform operation symbol；
Twoth GPS component d of the calculating unmanned plane to security target pointvInclude:
dv=dc/2。
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| CN106331684B (en) * | 2016-08-30 | 2018-04-27 | 长江三峡勘测研究院有限公司（武汉） | A kind of 3-dimensional image acquisition methods based on small drone video recording in engineering geological survey |
| CN106959699A (en) * | 2016-11-10 | 2017-07-18 | 宁波蓝飞鹂航空科技有限公司 | A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator |
| CN107016840A (en) * | 2016-11-10 | 2017-08-04 | 宁波蓝飞鹂航空科技有限公司 | A kind of method based on the key alignment pattern of head one put on the basis of manipulator |
| CN108922154A (en) * | 2018-10-15 | 2018-11-30 | 无锡比特信息科技有限公司 | Unmanned plane remote controler |
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