CN105676873A - Automatic landing method and control system of unmanned aerial vehicle - Google Patents
Automatic landing method and control system of unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/105—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for unpowered flight, e.g. glider, parachuting, forced landing
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Abstract
The invention relates to the technical field of an unmanned aerial vehicle, and discloses an automatic landing method and a control system of an unmanned aerial vehicle. The automatic landing method of the unmanned aerial vehicle includes the following steps that a hand-held remote control terminal generates a landing command package which includes: a horizontal dimensional operation order and a perpendicular dimensional operation order; and the hand-held remote control terminal sends the landing command package to the unmanned aerial vehicle, and the unmanned aerial vehicle executes a landing command according to the landing command package. The invention provides the automatic landing method of the unmanned aerial vehicle, and simplifies an algorithm through which the unmanned aerial vehicle realizes automatic landing. Even an automatic landing mode is one key landing, the horizontal dimensional landing parameter can be set during the landing, and a landing place is selected. The implementation of the automatic landing method is simple, and the user operation is convenient.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, technology of automatically landing particularly to unmanned plane.
Background technology
UAV is called for short " unmanned plane ", is the not manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle, be currently mainly applied in take photo by plane, agricultural plant protection, the field such as mapping. Current unmanned plane taking off, land and airflight situation is required for greatly using radio robot to carry out manual control, radio robot refers mainly to hand-held remote control terminal, when unmanned plane is sent landing order automatically by hand-held remote control terminal by user, unmanned plane can carry out series of algorithms in conjunction with self state of flight at that time, then according to result of calculation, perform automatically to land order, it is generally the case that the landing automatically of unmanned plane is a key landing.
" automatically the landing " of unmanned plane is the intelligentized embodiment as unmanned plane, but existing unmanned plane is when triggering a key landing, unmanned plane horizontal dimensions cannot be carried out parameter setting, when user at a time wants that unmanned plane is carried out a key landing operation, find to be not suitable for landing currently without man-machine present position, first unmanned plane can only be carried out flight operation, when unmanned plane during flying to a relatively desirably position, unmanned plane is carried out a key landing again, and the horizontal direction of unmanned plane cannot be adjusted by user in descent, the reason that can not adjust horizontal direction in automatic descent is in that, when unmanned plane enters automatic landing mode, unmanned plane just no longer receives the flight operation order of hand-held remote control terminal, if the user discover that, landing place is improper, when needing to adjust landing place, can only promptly cancel automatic landing, then the position of unmanned plane is adjusted, adjustment carries out a key landing again after completing, it is less susceptible to grasp as domestic consumer.
Summary of the invention
It is an object of the invention to provide the automatic landing method of a kind of unmanned plane and control system thereof so that unmanned plane can arrange the landing parameter of horizontal dimensions when landing automatically, selects landing place, and simplifies algorithm, it is achieved be simple.
For solving above-mentioned technical problem, embodiments of the present invention provide the automatic landing method of a kind of unmanned plane, comprise the steps of hand-held remote control terminal and generate landing order bag, and landing order bag comprises: horizontal dimensions operational order and vertical dimensions operational order; Landing order bag is sent to unmanned plane by hand-held remote control terminal; Unmanned plane, according to landing order bag, performs landing instruction.
Embodiments of the present invention additionally provide the landing control system automatically of a kind of unmanned plane, comprise: landing order bag generation module, are used for generating landing order bag, and landing order bag comprises: horizontal dimensions operational order and vertical dimensions operational order; First sending module, the landing order bag for generating sends to unmanned plane; Unmanned plane comprises: receiver module, is used for receiving landing order bag; Landing instruction performs module, for according to landing order bag, performing landing instruction.
Embodiment of the present invention is in terms of existing technologies, the landing order bag that hand-held remote control terminal generates includes horizontal dimensions operational order and vertical dimensions operational order, unmanned plane is according to the landing order bag received, perform landing instruction, do not need to carry out the computing of complexity, simplify the algorithm that automatically lands of unmanned plane, and carry horizontal dimensions operational order in landing order bag, even if the automatic landing mode that unmanned plane adopts is a key landing, the landing parameter of horizontal dimensions also can be set when landing, therefore can realize unmanned plane automatically to land at any time, and the adjustment to horizontal direction when automatically landing.
It addition, hand-held remote control terminal generates in the step of landing order bag, comprise following sub-step: gather user's operation information to the horizontal dimensions of unmanned plane, and the operation information according to horizontal dimensions generates horizontal dimensions operational order; Status information according to unmanned plane and environmental information, generate vertical dimensions operational order.
It addition, the status information of unmanned plane comprises battery level information, the environmental information of unmanned plane comprises height and ambient wind.
It addition, perform, in the step of landing instruction, also to comprise following sub-step: the sensor of unmanned plane detects the elevation information on unmanned plane distance ground in real time, judges whether to drop to ground according to described elevation information; If it is determined that having dropped to ground, then unmanned plane cuts off power supply, and completes instruction to the transmission landing of hand-held remote control terminal. Guarantee integrity and the reasonability of the automatic descent of unmanned plane, strengthen unmanned plane mutual with the information of hand-held remote control terminal; Additionally, cut off power supply in time when unmanned plane completes landing automatically, it is ensured that the safety of ground staff.
It addition, when the sensor of unmanned plane detects the elevation information on unmanned plane distance ground in real time, if be detected that unmanned plane distance ground level is preset height, then unmanned plane stops preset duration in this preset height; After stopping preset duration, unmanned plane lands with the second sinking speed, and the second sinking speed is less than the first sinking speed, and the first sinking speed is the sinking speed of instruction in vertical dimensions operational order. Stop preset duration at pre-determined threshold height, facilitate the safe escape of personnel on ground, quasi-level point, be further ensured that the safety of ground staff.
It addition, receive before landing completes instruction in hand-held remote control terminal, hand-held remote control terminal detects whether to receive the landing operation information from user; Wherein, landing operation information comprises the operation information of the horizontal dimensions to unmanned plane and/or the operation information of the vertical dimensions to unmanned plane. If hand-held remote control terminal receives landing operation information, hand-held remote control terminal generates the landing order bag updated according to landing operation information, and sends to unmanned plane; Unmanned plane, according to the landing order bag updated, performs landing instruction. Make in descent, it may be achieved the landing automatically of unmanned plane is carried out the adjustment at any time in horizontal direction or vertical direction.
It addition, when generating horizontal dimensions operational order according to the operation information of horizontal dimensions, also comprise: hand-held remote control terminal obtains the directional information of this terminal; Hand-held remote control terminal, according to user's operation information to the horizontal dimensions of unmanned plane and directional information, obtains direction instruction information; Direction is indicated information to carry in horizontal dimensions operational order by hand-held remote control terminal. It is in the unmanned plane of Headless mode and also can realize in automatic descent the adjustment to horizontal direction.
Accompanying drawing explanation
Fig. 1 is the flow chart of the automatic landing method of the unmanned plane according to first embodiment of the invention;
Fig. 2 is the flow chart that the hand-held remote control terminal according to third embodiment of the invention generates the landing order bag updated;
Fig. 3 is the structural representation of the control system of automatically landing of the unmanned plane according to fifth embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail. But, it will be understood by those skilled in the art that in each embodiment of the present invention, propose many ins and outs in order to make reader be more fully understood that the application. But, even without these ins and outs with based on the many variations of following embodiment and amendment, it is also possible to realize the application each claim technical scheme required for protection.
First embodiment of the present invention relates to the automatic landing method of a kind of unmanned plane, and its flow process is as it is shown in figure 1, specifically comprise the following steps that
Step 101, hand-held remote control terminal receives user's landing operation information.
When user needs unmanned plane is landed automatically, a such as key landing, some the landing parameters in a key descent can be configured, such as, horizontal dimensions flight speed, horizontal dimensions flying distance, horizontal dimensions heading, sinking speed. Such as, in actual applications, sinking speed is configured by user, and sinking speed is arranged can for the numerical value of user's input, it is also possible to for some speed intervals that hand-held remote control terminal is preset, as rapid descent, middling speed are landed or land at a slow speed, wherein, the sinking speed corresponding with rapid descent, more than the sinking speed corresponding with middling speed landing, with the middling speed corresponding sinking speed of landing, more than with the corresponding sinking speed that lands at a slow speed. When hand-held remote control terminal detects that landing button is pressed, illustrate that hand-held remote control terminal receives user's landing operation information.
Step 102, hand-held remote control terminal generates landing order bag, and sends to unmanned plane. Landing order bag comprises horizontal dimensions landing instruction and vertical dimensions landing instruction, and it is as follows that it generates process:
The generation process of horizontal dimensions landing instruction is:
Hand-held remote control terminal gathers user's operation information to the horizontal dimensions of unmanned plane, comprise horizontal dimensions flight speed, horizontal dimensions flying distance, horizontal dimensions heading, and the operation information according to the horizontal dimensions collected generates horizontal dimensions operational order.
The generation process of vertical dimensions landing instruction is:
Status information that hand-held remote control terminal returns from unmanned plane and environmental information, get unmanned plane battery level information, highly, ambient wind, and according to the battery level information got, highly, ambient wind, generate vertical dimensions landing instruction. wherein, when generating sinking speed, it can be the sinking speed value of user setup, can also according to the status information obtained and environmental information, the sinking speed calculating safe falling is interval, then in safety falling velocity interval, set sinking speed, sinking speed interval includes maximum lowering speed V1 and minimum sinking speed V2, arrange according to the speed in user operation instruction, in sinking speed interval, the sinking speed determined and detect arranges the first corresponding sinking speed V3, such as, the sinking speed that rapid descent is corresponding can be maximum lowering speed V1, the sinking speed of middling speed landing correspondence can be the meansigma methods of maximum lowering speed V1 and minimum sinking speed V2, landing can be minimum sinking speed V2 at a slow speed, certainly concrete sinking speed, user can also be configured as required, do not limit at this.
Step 103, unmanned plane, according to the landing order bag received, performs landing instruction. Unmanned plane is after receiving landing order bag, landing order bag is resolved, obtain specific instruction in landing order bag, such as horizontal dimensions flight speed, horizontal dimensions flying distance, horizontal dimensions heading, sinking speed, then according to landing order bag, perform landing instruction, automatically land.
Step 104, the sensor of unmanned plane detects the elevation information on unmanned plane distance ground in real time. In automatic descent, the sensor in unmanned plane detects the elevation information on distance ground, current location in real time, and the information collected is fed back to unmanned plane.
Step 105, unmanned plane judges whether to drop to ground. If so, step 106 is entered; If it is not, return to step 103, unmanned plane continues according to the landing order bag received, and performs landing instruction.
Dropping to ground when unmanned plane detects, enter step 106, unmanned plane cuts off power supply, and completes instruction to the transmission landing of hand-held remote control terminal. When the unmanned plane information according to sensor feedback, detect when unmanned plane contacts ground, unmanned plane then quickly reduces motor rotary speed, enter idling mode, when judging to drop to ground, unmanned plane cuts off throttle, stops revolution, and complete instruction to the transmission landing of hand-held remote control terminal, complete automatic landing.
It is seen that, in the present embodiment, the landing order bag that hand-held remote control terminal generates includes horizontal dimensions operational order and vertical dimensions operational order, unmanned plane is according to the landing order bag received, perform landing instruction, do not need to carry out the computing of complexity, simplify algorithm, and carry horizontal dimensions operational order in landing order bag, therefore can realize unmanned plane automatically to land at any time, even if landing mode is a key landing automatically, also can realize when landing automatically, horizontal direction being adjusted. When detecting that unmanned plane drops to ground, unmanned plane cuts off power supply, and completes instruction to the transmission landing of hand-held remote control terminal, it is ensured that the integrity of the automatic descent of unmanned plane and reasonability, strengthens unmanned plane mutual with the information of hand-held remote control terminal; Additionally, cut off power supply when unmanned plane completes landing automatically, save the energy.
Second embodiment of the present invention relates to the automatic landing method of a kind of unmanned plane, second embodiment has improved on the basis of the first embodiment, mainly the improvement is that: the sensor of unmanned plane detects that the height on unmanned plane distance ground reaches preset height, and unmanned plane stops preset duration in preset height. Ensure the safe escape of personnel on ground, quasi-level point, be further ensured that the safety of personnel.
Specifically, when automatically landing, in landing parameter setting procedure, to preset height. Sinking speed is configured, this preset height is the height on distance ground, such as 5 meters, using this preset height as safe altitude, when, in descent, the sensor of unmanned plane detects when the height on distance ground reaches preset height 5 meters, unmanned plane can stop preset duration at 5 meters of of this preset height, such as stop 2 minutes, it is ensured that quasi-level point ground personnel can withdraw if having time, it is ensured that the safety of personnel. After reaching preset duration 2 minutes, the sinking speed of unmanned plane is reduced to the second sinking speed from the first sinking speed, then slowly drops to ground, and wherein, the first sinking speed is the speed comprised in vertical landing operational order.
In the present embodiment, when the sensor of unmanned plane detects that the height on unmanned plane distance ground reaches preset height, unmanned plane stops preset duration in this preset height, and after reaching preset duration, reduce sinking speed, ensure that on ground, quasi-level point, personnel can carry out safe escape if having time, is further ensured that the safety of personnel.
3rd embodiment of the present invention relates to the automatic landing method of a kind of unmanned plane, 3rd embodiment has improved on the basis of first, second embodiment, mainly the improvement is that: receive before landing completes instruction in hand-held remote control terminal, if receiving user's landing operation instruction, then generate the landing order bag of renewal, and send to unmanned plane. Make in descent, it may be achieved the landing automatically of unmanned plane is carried out the adjustment at any time in horizontal direction or vertical direction, user-friendly. In automatic descent, hand-held remote control terminal generates the flow chart of the landing order bag updated as in figure 2 it is shown, specifically comprise the following steps that
Step 201 is corresponding to step 102 with the step 101 in the first embodiment respectively to step 202, does not repeat them here.
Step 203, whether hand-held remote control terminal judges receives user's landing operation information of renewal. If so, namely receive user's landing operation information of renewal, enter step 205; If it is not, enter step 204.
In the automatic descent of unmanned plane, user can need the landing situation of unmanned plane is adjusted according to landing, and hand-held remote control terminal detects and receive user's landing operation information in real time,
When judged result is yes, namely receiving user's landing operation information of renewal, enter step 205, hand-held remote control terminal generates the landing order bag updated, and sends to unmanned plane. When hand-held remote control terminal detects user's operation information, according to this user's operation information, generate the landing order bag updated, and the landing order bag of the renewal generated is sent to unmanned plane, the landing order bag generation process updated referring to step 202, can not repeat them here.
When judged result is no, namely hand-held remote control terminal does not receive user's operation information, enters step 204, and whether hand-held remote control terminal judges receives the landing of unmanned plane transmission and complete instruction, and if the determination result is YES, flow process terminates; If judged result is no, then entering step 203, hand-held remote control terminal continues to determine whether to receive user's landing operation information of renewal.
It is seen that, in the present embodiment, in the automatic descent of unmanned plane, if hand-held remote control terminal receives user's landing operation information, then generate the landing order bag updated in real time, and send to unmanned plane, perform landing instruction, it is possible to achieve adjustment to horizontal direction at any time in automatic descent.
4th embodiment of the present invention relates to the automatic landing method of a kind of unmanned plane, 3rd embodiment has improved on the basis of any of the above embodiment, mainly the improvement is that: also comprise when generating described horizontal dimensions operational order according to the operation information of horizontal dimensions, hand-held remote control terminal obtains the directional information of this terminal, and obtains direction instruction information. It is in the unmanned plane of Headless mode and also can realize in automatic descent the adjustment to horizontal direction.
Specifically, hand-held remote control terminal utilizes the Magnetic Sensor arranged in this terminal to get the directional information that this terminal is current, the operation information of the horizontal dimensions of unmanned plane is obtained direction according to the azimuth information obtained and the user collected and indicates information by hand-held remote control terminal, and the direction indicates information carry in horizontal dimensions operational order. The landing order bag carrying direction instruction information is sent to unmanned plane by hand-held remote control terminal, unmanned plane receives to after landing order bag, obtain the direction instruction information carried in the horizontal dimensions operational order in this landing order bag, unmanned plane utilizes the directional information of the Magnetic Sensor acquisition of self itself, directional information and the direction of acquisition according to self indicate information, can realize, when performing landing instruction, horizontal direction being adjusted.
The step of various methods divides above, is intended merely to description clear, it is achieved time can be merged into a step or some step is split, and is decomposed into multiple step, as long as comprising identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but do not change the core design of its algorithm and flow process all in the protection domain of this patent.
Fifth embodiment of the invention relates to the landing control system automatically of a kind of unmanned plane, its structural representation is as shown in Figure 3, comprising: landing order bag generation module, be used for generating landing order bag, landing order bag comprises: horizontal dimensions operational order and vertical dimensions operational order; First sending module, the landing order bag for generating sends to unmanned plane; Unmanned plane comprises: receiver module, is used for receiving landing order bag; Landing instruction performs module, for according to landing order bag, performing landing instruction.
Landing order bag generation module also comprises:
Horizontal dimensions operational order generates submodule, and for gathering user's operation information to the horizontal dimensions of unmanned plane, and the operation information according to horizontal dimensions generates horizontal dimensions operational order;
Vertical dimensions operational order generates submodule, generates vertical dimensions operational order for the flight speed according to unmanned plane.
Unmanned plane also comprises:
Detection module, is used at unmanned plane in descent, the elevation information on real-time detecting distance ground;
Judge module, for judging whether to drop to ground according to elevation information;
Second sending module, for when judge module judges that unmanned plane drops to ground, sending landing to hand-held remote control terminal and complete instruction.
It is seen that, present embodiment is the system embodiment corresponding with the first embodiment, and present embodiment can be worked in coordination enforcement with the first embodiment. The relevant technical details mentioned in first embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here. Correspondingly, the relevant technical details mentioned in present embodiment is also applicable in the first embodiment.
It is noted that each module involved in present embodiment is logic module, in actual applications, a logical block can be a physical location, it is also possible to be a part for a physical location, it is also possible to realize with the combination of multiple physical locations. Additionally, for the innovative part highlighting the present invention, do not introduced by the unit less close with solving technical problem relation proposed by the invention in present embodiment, but this is not intended that in present embodiment to be absent from other unit.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the invention, and in actual applications, it is possible in the form and details it is done various change, without departing from the spirit and scope of the present invention.
Claims (10)
1. the automatic landing method of a unmanned plane, it is characterised in that comprise the steps of
Hand-held remote control terminal generates landing order bag, and described landing order bag comprises: horizontal dimensions operational order and vertical dimensions operational order;
Described landing order bag is sent to unmanned plane by described hand-held remote control terminal;
Described unmanned plane, according to described landing order bag, performs landing instruction.
2. the automatic landing method of unmanned plane according to claim 1, it is characterised in that described hand-held remote control terminal generates in the step of landing order bag, comprises following sub-step:
Gather user's operation information to the horizontal dimensions of described unmanned plane, and the operation information according to described horizontal dimensions generates described horizontal dimensions operational order;
Status information according to described unmanned plane and environmental information, generate described vertical dimensions operational order.
3. the automatic landing method of unmanned plane according to claim 2, it is characterised in that the status information of described unmanned plane comprises battery level information; The environmental information of described unmanned plane comprises height and ambient wind.
4. the automatic landing method of unmanned plane according to any one of claim 1 to 3, it is characterised in that in the step of described execution landing instruction, also comprise following sub-step:
The sensor of described unmanned plane detects the elevation information on described unmanned plane distance ground in real time, and judges whether to drop to ground according to described elevation information;
If it is determined that having dropped to ground, then described unmanned plane cuts off power supply, and completes instruction to the transmission landing of described hand-held remote control terminal.
5. the automatic landing method of unmanned plane according to claim 4, it is characterised in that also comprise:
When sensor at described unmanned plane detects the elevation information on described unmanned plane distance ground in real time, if be detected that described unmanned plane distance ground level is preset height, then described unmanned plane stops preset duration in this preset height;
After stopping described preset duration, described unmanned plane lands with the second sinking speed; Described second sinking speed is less than the first sinking speed, and described first sinking speed is the sinking speed of instruction in described vertical dimensions operational order.
6. the automatic landing method of unmanned plane according to claim 4, it is characterised in that also comprise:
Receiving before described landing completes instruction in described hand-held remote control terminal, described hand-held remote control terminal detects whether to receive the landing operation information from described user; Described landing operation information comprises the operation information of the horizontal dimensions to described unmanned plane and/or the operation information of the vertical dimensions to described unmanned plane;
If receiving described landing operation information, described hand-held remote control terminal generates the landing order bag updated according to described landing operation information, and sends to described unmanned plane;
The described unmanned plane landing order bag according to described renewal, performs landing instruction.
7. the automatic landing method of unmanned plane according to claim 2, it is characterised in that the described operation information according to described horizontal dimensions generates in described horizontal dimensions operational order step, comprises following sub-step:
Described hand-held remote control terminal obtains the directional information of this terminal;
Described hand-held remote control terminal is according to user's operation information to the horizontal dimensions of described unmanned plane, and described directional information, obtains direction instruction information;
Described direction is indicated information to carry in described horizontal dimensions operational order by described hand-held remote control terminal.
8. a landing control system automatically for unmanned plane, comprises unmanned plane and hand-held remote control terminal, it is characterised in that described hand-held remote control terminal comprises:
Landing order bag generation module, is used for generating landing order bag, and described landing order bag comprises: horizontal dimensions operational order and vertical dimensions operational order;
First sending module, for sending the landing order bag of described generation to described unmanned plane;
Described unmanned plane comprises:
Receiver module, is used for receiving described landing order bag;
Landing instruction performs module, for according to described landing order bag, performing landing instruction.
9. the landing control system automatically of unmanned plane according to claim 8, it is characterised in that described unmanned plane also comprises:
Detection module, is used at described unmanned plane in descent, the elevation information on real-time detecting distance ground;
Judge module, for judging whether to drop to ground according to described elevation information;
Second sending module, for when described judge module judges that described unmanned plane drops to ground, sending landing to described hand-held remote control terminal and complete instruction.
10. the landing control system automatically of unmanned plane according to claim 8, it is characterised in that described landing order bag generation module comprises:
Horizontal dimensions operational order generates submodule, and for gathering user's operation information to the horizontal dimensions of described unmanned plane, and the operation information according to described horizontal dimensions generates described horizontal dimensions operational order;
Vertical dimensions operational order generates submodule, for the status information according to described unmanned plane and environmental information, generates described vertical dimensions operational order.
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| CN107438567A (en) * | 2016-09-26 | 2017-12-05 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method |
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| CN108181922A (en) * | 2017-12-01 | 2018-06-19 | 北京臻迪科技股份有限公司 | Unmanned plane landing control method, apparatus and system |
| CN111077899A (en) * | 2019-10-25 | 2020-04-28 | 中国航空无线电电子研究所 | Carrier-borne unmanned aerial vehicle wrist strap type handheld control system |
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