CN106184784A - Unmanned aerial vehicle (UAV) control method, device and unmanned plane - Google Patents
Unmanned aerial vehicle (UAV) control method, device and unmanned plane Download PDFInfo
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- CN106184784A CN106184784A CN201610719614.4A CN201610719614A CN106184784A CN 106184784 A CN106184784 A CN 106184784A CN 201610719614 A CN201610719614 A CN 201610719614A CN 106184784 A CN106184784 A CN 106184784A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004888 barrier function Effects 0.000 claims abstract description 78
- 230000001133 acceleration Effects 0.000 claims description 66
- 230000009977 dual effect Effects 0.000 claims description 8
- 239000007789 gas Substances 0.000 description 56
- 238000002604 ultrasonography Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 239000003153 chemical reaction reagent Substances 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 238000005273 aeration Methods 0.000 description 3
- 239000002775 capsule Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000013022 venting Methods 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
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- 238000002309 gasification Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 238000010438 heat treatment Methods 0.000 description 1
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- 229910052757 nitrogen Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a kind of unmanned aerial vehicle (UAV) control method, device and unmanned plane.This unmanned aerial vehicle (UAV) control method includes: obtain the state of flight information of unmanned plane；If described state of flight information meets the airbag inflated condition of described unmanned plane, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.The embodiment of the present invention is by using technique scheme; air bag is set in unmanned plane; when unmanned plane is in the hole; opening gas generation apparatus is airbag inflated; safety by air bag for protection unmanned plane; the probability and the extent of damage being damaged when unmanned plane bumps against with barrier can be reduced, promote the safety coefficient of unmanned plane, reduce the property loss of user.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned aerial vehicle (UAV) control method, device and unmanned plane.
Background technology
In recent years, unmanned air vehicle technique has obtained quick development, and unmanned plane is light and handy flexibly with it, mobility is good, nobody
Member's feature such as casualty rate is more and more employed military affairs, the every field such as civilian and commercial, as battlefield investigation and monitor, map
Mapping, disaster monitoring, take photo by plane.
Along with the expansion of unmanned plane range of application, the Security Control Problem of unmanned plane is increasingly becoming focus of concern
One of.In prior art, generally controlling unmanned plane by integrated software security algorithm in unmanned plane can be in battery low pressure
Time automatically make a return voyage or automatically land when unmanned plane is with remote controller communication disruption, thus the security control improving unmanned plane refers to
Number.But, existing security algorithm realizes often through software, when software controls to break down, is then likely to occur unmanned plane
Situation about crashing or damage, it is impossible to really guarantee the safety of unmanned plane.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method, device and unmanned plane, to solve existing skill
The technical problem that when unmanned plane uses in art, safety coefficient is relatively low.
First aspect, embodiments provides a kind of unmanned aerial vehicle (UAV) control method, including:
Obtain the state of flight information of unmanned plane；
If described state of flight information meets the airbag inflated condition of described unmanned plane, then control described unmanned plane
The airbag inflated that gas generation apparatus is described unmanned plane.
Second aspect, embodiments provides a kind of unmanned aerial vehicle (UAV) control device, including:
State of flight data obtaining module, for obtaining the state of flight information of unmanned plane；
Gas generation apparatus control module, if meeting the air bag of described unmanned plane for described state of flight information
Venting condition, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.
The third aspect, the embodiment of the present invention additionally provides a kind of unmanned plane, including the nothing described in any embodiment of the present invention
Human-machine Control device, also includes gas generation apparatus and air bag.
The technical scheme of the unmanned aerial vehicle (UAV) control that the embodiment of the present invention provides, obtains the state of flight information of unmanned plane, it is judged that
Whether this state of flight information meets the airbag inflated condition of unmanned plane, the most then the gas opening unmanned plane produces dress
Put, be the airbag inflated of unmanned plane by gas generation apparatus.The embodiment of the present invention by use technique scheme,
Arranging air bag in unmanned plane, when unmanned plane is in the hole, opening gas generation apparatus is airbag inflated, logical
Cross the safety of air bag for protection unmanned plane, the probability and impaired journey being damaged when unmanned plane bumps against with barrier can be reduced
Degree, promotes the safety coefficient of unmanned plane, reduces the property loss of user.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the present invention
Feature, purpose and advantage will become more apparent upon:
The schematic flow sheet of a kind of unmanned aerial vehicle (UAV) control method that Fig. 1 provides for the embodiment of the present invention one；
The schematic flow sheet of a kind of unmanned aerial vehicle (UAV) control method that Fig. 2 provides for the embodiment of the present invention two；
The schematic flow sheet of a kind of preferred unmanned aerial vehicle (UAV) control method that Fig. 3 provides for the embodiment of the present invention three；
The structured flowchart of a kind of unmanned aerial vehicle (UAV) control device that Fig. 4 provides for the embodiment of the present invention four；
The schematic diagram of a kind of unmanned plane that Fig. 5 provides for the embodiment of the present invention five.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than full content in description, accompanying drawing.
When unmanned plane is applied, user can realize the control to unmanned plane by the remote controller corresponding with unmanned plane.
Accordingly, can micro-control unit be set in unmanned plane, for receiving the first control instruction that remote controller sends, and based on this
Unmanned plane is controlled by control instruction accordingly.During performing the first control instruction, when detecting at unmanned plane
Relatively low in electricity, remaining electricity has been merely able to return departure location, or the first control instruction that remote controller sends is unexpected
During interruption, micro-control unit often automatically generates the second control instruction, and controls unmanned plane execution based on the second control instruction
Make a return voyage or the operation of original place landing.But, if unmanned plane not being carried out automatically return when low electricity or the interruption of the first control instruction
Boat or the setting of landing, or, electric power detection module or the second control instruction generation module of micro-control unit break down, then
Micro-control unit can be caused cannot to generate the second control instruction or the second control instruction cannot produce control action to unmanned plane, make
Obtain unmanned plane and the situation of air crash occurs；If additionally, the first control instruction is false command, it is also possible to make unmanned plane and its
Its object bumps against, and causes unmanned plane to occur damaging, and the loss in terms of cause the user property thus can use the present invention to implement
The unmanned aerial vehicle (UAV) control method that example provides, to improve the safety coefficient of unmanned plane based on the method, reduces the property loss of user.
Embodiment one
The embodiment of the present invention one provides a kind of unmanned aerial vehicle (UAV) control method.The method can be performed by unmanned aerial vehicle (UAV) control device,
Wherein this device can be realized by hardware and/or software, typically can be integrated in unmanned plane.Fig. 1 is the embodiment of the present invention one
The schematic flow sheet of unmanned aerial vehicle (UAV) control method, as it is shown in figure 1, the method includes:
S110, the state of flight information of acquisition unmanned plane.
In the present embodiment, the state of flight information of unmanned plane can be used for judging that unmanned plane is the most in the hole, i.e. nothing
Man-machine whether being in bumps against, with barrier, the state that probability is higher.Accordingly, the state of flight information of unmanned plane can be any
Can interpolate that the one or more information that unmanned plane is the most in the hole, e.g., the flight speed of unmanned plane, the shifting of barrier
Dynamic speed, the acceleration of unmanned plane, distance etc. between the acceleration of barrier and/or unmanned plane and barrier.Exemplary,
When the relative velocity obtained between unmanned plane and barrier or relative acceleration, can directly obtain unmanned plane and barrier it
Between relative velocity or relative acceleration, it is also possible to obtain the speed of unmanned plane or acceleration and the speed of barrier the most respectively
Degree or acceleration, then obtain the phase between unmanned plane with barrier according to unmanned plane and the speed of barrier or acceleration calculation
To speed or acceleration.
Unmanned plane during flying state time institute is obtained in view of the complexity acquired in every terms of information and according to every terms of information
The amount of calculation needed, it is preferred that described state of flight information includes the distance between described unmanned plane and barrier and described nothing
Relative acceleration between man-machine and barrier.Here, barrier can be the stationary obstruction such as ground, building or mountain peak,
Can also be the moving obstacle such as automobile or other unmanned plane of movement, not be restricted.
Accordingly, the state of flight information of described acquisition unmanned plane can be: by ultrasonic sensor and/or by peace
The dual camera being loaded on unmanned plane obtains the distance between described unmanned plane and barrier and relative acceleration.
Exemplary, if obtaining the distance between unmanned plane and barrier and relative acceleration by ultrasonic sensor
Degree, can be launched ultrasound wave by ultrasonic sensor to the direction initialization of unmanned plane, then be connect by ultrasonic probe, ultrasonic receiver
Receive the ultrasonic signal that returned by barrier, by the time difference of ultrasonic emitting time with the time of reception calculate unmanned plane with
Distance between barrier, and obtain unmanned plane and obstacle by distance change between unmanned plane and barrier in Preset Time
Relative velocity between thing, and then obtain the relative acceleration between unmanned plane and barrier.Here, it is pointed out that super
The direction initialization of ultrasound wave launched by sonic sensor can only include some or several fixing direction of unmanned plane, it is also possible to
All directions including unmanned plane.
If obtaining the distance between unmanned plane and barrier and relative acceleration by dual camera, can be at unmanned plane
Installing dual camera on the direction corresponding with air bag, by dual camera, in real time or interval Preset Time shoots model to it
Enclosing interior scenery once to shoot, the depth map obtained by shooting calculates unmanned plane and each thing in photographic head coverage
The distance of mesosome, and obtained by the change of distance between each object in unmanned plane in Preset Time and photographic head coverage
Take the relative velocity between each object in unmanned plane and photographic head coverage, and and then obtain between unmanned plane and each object
Relative acceleration.Here, the direction corresponding with air bag refers to unmanned plane is provided with the direction of air bag, such as,
If the above and or below of unmanned plane is provided with air bag, then can by dual camera according to above unmanned plane and/or
Lower section.
If S120 described state of flight information meets the airbag inflated condition of described unmanned plane, then control described
The gas generation apparatus of unmanned plane is the airbag inflated of described unmanned plane.
In the present embodiment, gas generation apparatus can be connected with air bag, can be used for generating gas to be reached for safety
The purpose of airbag aeration.Wherein, gas generation apparatus can generate gas by physical reactions or chemical reaction, and it is generated
Gas can be pure gas, it is also possible to is mixed gas, is not restricted.If gas generation apparatus passes through physical reactions
Produce gas, can be first liquid or solid-state by gas compression, or, select liquid or the solid of easily distillation of easily gasification,
And be stored in gas generation apparatus, if the state of flight information of unmanned plane meets airbag inflated condition, then control
Gas generation apparatus processed closes the compression to its deposited liquid or solid or control gas generation apparatus is deposited by it
The liquid or solid heating put, thus the liquid or solid gasification deposited or liter Huawei gaseous state are to be embodied as substitute
The purpose of capsule inflation；If gas generation apparatus produces gas by chemical reaction, first the one of chemical reaction can will be produced
Plant or multiple chemical reagent is independently stored in gas generation apparatus, if the state of flight information of unmanned plane meets safety
Airbag aeration condition, then reach the anti-of chemical reagent by the condition in the mixing of each chemical reagent and/or regulation gas generation apparatus
Answer condition, so that this one or more chemical reagent generation chemical reaction generates gas to be embodied as the mesh of airbag inflated
's.Here, liquid, solid or the chemical reagent in gas generation apparatus is preferably capable producing a large amount of gas at short notice
Article, thus ensure that gas generation apparatus can complete the gas replenishment process of air bag with barrier before unmanned plane bumps against.
Safety when using in view of air bag and gas generation apparatus, the gas that gas generation apparatus is generated is preferably phase
Between Hu or with air will not aitiogenic gas, such as nitrogen etc..
The unmanned aerial vehicle (UAV) control method that the embodiment of the present invention one provides, installs air bag on unmanned plane and gas produces dress
Put, when unmanned plane uses, obtain the state of flight information of unmanned plane, if this state of flight information meets the substitute of unmanned plane
Capsule venting condition, then control the airbag inflated that this gas generation apparatus is unmanned plane.The embodiment of the present invention is by employing
Stating technical scheme, when unmanned plane is in the hole, opening gas generation apparatus is airbag inflated, passes through air bag
The safety of protection unmanned plane, can reduce the probability and the extent of damage being damaged when unmanned plane bumps against with barrier, promotes nothing
Man-machine safety coefficient, reduces the property loss of user, improves the experience of user.
Embodiment two
The schematic flow sheet of a kind of unmanned aerial vehicle (UAV) control method that Fig. 2 provides for the embodiment of the present invention two.The present embodiment is upper
It is optimized on the basis of stating embodiment, further, if barrier is to be positioned at the stationary obstruction below unmanned plane, described
Obtain the state of flight information of unmanned plane, including: obtain the distance between unmanned plane and barrier by ultrasonic sensor；Logical
Cross acceleration transducer and obtain the acceleration over the ground of unmanned plane as the relative acceleration between unmanned plane and barrier.
Further, if described state of flight information meets the airbag inflated condition of described unmanned plane, then
If control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane particularly as follows: described unmanned plane with
Distance between barrier is within the scope of predeterminable range, and the relative acceleration between described unmanned plane and barrier is in advance
If within acceleration range, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.
Accordingly, as in figure 2 it is shown, the unmanned aerial vehicle (UAV) control method of the present embodiment includes:
S210, obtain the distance between unmanned plane and barrier by ultrasonic sensor.
Exemplary, position that can be corresponding with air bag on unmanned plane arranges ultrasonic sensor, such as, if
The above and or below of unmanned plane is provided with air bag, then can install ultrasound wave in the above and or below of unmanned plane and pass
Sensor.When being obtained the distance between unmanned plane and barrier by ultrasonic sensor, supersonic sensing can be first passed through
Ultrasound wave launched by device, is received the ultrasound information returned by barrier by ultrasonic probe, ultrasonic receiver, and record is launched super respectively
Time of sound wave and receive time of the ultrasound wave returned by barrier, then by the time difference of the two, ultrasound wave
The parameters such as the relative velocity of aerial spread speed and/or unmanned plane and barrier calculate between unmanned plane and barrier
Distance.
S220, by acceleration transducer obtain unmanned plane acceleration over the ground as the phase between unmanned plane with barrier
To acceleration.
In the present embodiment, because barrier is for being positioned at below unmanned plane, and barrier is static, and its speed and acceleration are
Zero, therefore, it can the acceleration over the ground of unmanned plane as the relative acceleration between unmanned plane and barrier.Preferably, may be used
To be obtained the acceleration over the ground of unmanned plane by acceleration transducer, thus reduce obtain between unmanned plane and barrier relative
Amount of calculation required during acceleration, and improve the degree of accuracy of relative acceleration between calculated unmanned plane and barrier.
If the distance between the described unmanned plane of S230 and barrier is within the scope of predeterminable range and described unmanned
Relative acceleration between machine and barrier within the scope of predetermined acceleration, then controls the gas generation apparatus of described unmanned plane
Airbag inflated for described unmanned plane.
Exemplary, predeterminable range scope can be set to 3m-5m, predetermined acceleration scope is set to 9.78m/
s2-9.83m/s2, now, accordingly, if the distance between unmanned plane and barrier is between 3m-5m, and unmanned plane and obstacle
Relative acceleration between thing is at 9.78m/s2-9.83m/s2Between, then judge that the state of flight information of unmanned plane meets unmanned plane
Airbag inflated condition, and control unmanned plane gas generation apparatus produce gas be airbag inflated.
Here, it is pointed out that if being mounted with air bag in the multiple directions of unmanned plane, then can be for unmanned
Before the airbag inflated of machine, first determine whether which side of unmanned plane is higher with the probability that barrier bumps against, and be and this
The corresponding air bag in side is inflated, to improve the effective rate of utilization of air bag；Can also directly open unmanned plane
All air bags, produce the probability damaged reducing further unmanned plane.
The unmanned aerial vehicle (UAV) control method that the embodiment of the present invention two provides, when barrier is to be in the static obstacle below unmanned plane
During thing, obtain the distance between unmanned plane and barrier by ultrasonic sensor, obtain unmanned plane by acceleration transducer
Acceleration over the ground as the relative acceleration between unmanned plane and barrier, if the distance between unmanned plane and barrier exists
Within the scope of predeterminable range, and the relative acceleration between unmanned plane and barrier is within the scope of predetermined acceleration, then control
The gas generation apparatus of unmanned plane is the airbag inflated of unmanned plane.The embodiment of the present invention by use technique scheme,
When unmanned plane is in the hole, opening gas generation apparatus is airbag inflated, by air bag for protection unmanned plane
Safety, can reduce the probability and the extent of damage being damaged when unmanned plane bumps against with barrier, promote the safety of unmanned plane
Coefficient, reduces the property loss of user.Additionally, obtained the flight shape of unmanned plane by ultrasonic sensor and acceleration transducer
State information, can reduce amount of calculation required when obtaining unmanned plane during flying status information, the unmanned plane obtained by raising further
The accuracy of state of flight information, improves the experience of user.
Embodiment three
The schematic flow sheet of the control method of a kind of preferred unmanned plane that Fig. 3 provides for the embodiment of the present invention three.The party
Method can by unmanned plane control device perform, this device can be integrated in man-machine in.As it is shown on figure 3, the method includes:
S310, the distance obtained between unmanned plane and barrier.
Whether S320, the distance judged between described unmanned plane and barrier within set distance range, are the most then held
Row step S330；Otherwise, step S310 is returned.
S330, the relative acceleration obtained between unmanned plane and barrier.
S340, judge that described relative acceleration whether within setting acceleration range, the most then performs step S350；
Otherwise, step S310 is returned.
S350, the position relationship obtained between unmanned plane clear, and control gas generation apparatus be in unmanned plane with
The airbag inflated that described position relationship is corresponding.
The embodiment of the present invention three provide unmanned aerial vehicle (UAV) control method, the distance between unmanned plane and barrier set away from
The relative acceleration between unmanned plane and barrier is obtained again, it is possible to reduce obtain unmanned plane during flying state letter time within the scope of from
Amount of calculation required during breath；Controlling aerating device is the airbag inflated corresponding with Obstacle Position, can ensure nothing
Improve the effective rate of utilization of unmanned plane air bag on the premise of man-machine safety, reduce the multiple air bags of replacing every time and consumed
The time taken and property, improve the experience of user.
Embodiment four
The structured flowchart of a kind of unmanned aerial vehicle (UAV) control device that Fig. 4 provides for the embodiment of the present invention four.This device can be by software
And/or hardware realizes, it is typically integrated in unmanned plane, the control to unmanned plane can be realized by performing unmanned aerial vehicle (UAV) control method
System.As shown in Figure 4, this device includes:
State of flight data obtaining module 410, for obtaining the state of flight information of unmanned plane；
Gas generation apparatus control module 420, if meeting the safety of described unmanned plane for described state of flight information
Airbag aeration condition, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.
Further, described state of flight information includes the distance between described unmanned plane and barrier and described unmanned
Relative acceleration between machine and barrier.
Further, described state of flight data obtaining module 410 specifically for: by ultrasonic sensor and/or logical
Cross the dual camera being installed on unmanned plane and obtain the distance between described unmanned plane and barrier and relative acceleration.
Further, if barrier is to be positioned at the stationary obstruction below unmanned plane, described state of flight acquisition of information
Module 410 includes: distance acquiring unit, for being obtained the distance between unmanned plane and barrier by ultrasonic sensor；Phase
To acceleration obtainment unit, for being obtained the acceleration over the ground of unmanned plane by acceleration transducer as unmanned plane and barrier
Between relative acceleration.
Further, described gas generation apparatus control module 420 specifically for: if described unmanned plane and barrier it
Between distance within the scope of predeterminable range, and the relative acceleration between described unmanned plane and barrier is at predetermined acceleration
Within the scope of, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.
The unmanned aerial vehicle (UAV) control device that the embodiment of the present invention provides, obtains unmanned plane by state of flight data obtaining module
By gas generation apparatus control module, state of flight information, judges whether this state of flight information meets the substitute of unmanned plane
Capsule venting condition, the most then open the gas generation apparatus of unmanned plane, is the air bag of unmanned plane by gas generation apparatus
Inflation.The present embodiment, by using technique scheme, arranges air bag, when unmanned plane is in the hole in unmanned plane
Time, opening gas generation apparatus is airbag inflated, by the safety of air bag for protection unmanned plane, can reduce unmanned plane
The probability being damaged when bumping against with barrier and the extent of damage, promote the safety coefficient of unmanned plane, and the property reducing user damages
Lose.
Embodiment five
Fig. 5 show the schematic diagram of a kind of unmanned plane that the embodiment of the present invention five provides, and this unmanned plane includes that the present invention appoints
Unmanned aerial vehicle (UAV) control device (not being given in figure) described in meaning embodiment, also includes gas generation apparatus (not providing in figure) and peace
Full air bag, can realize the control to unmanned plane by performing the unmanned aerial vehicle (UAV) control method described in any embodiment of the present invention.
Exemplary, unmanned plane can arrange one or more air bag, air bag can be installed on unmanned plane
Top, lower section or other can protect unmanned plane safety position, be not restricted.
Preferably, described unmanned plane includes gas generation apparatus, air bag and support, and wherein, described gas produces dress
Put and be connected with described air bag, under the control of described unmanned aerial vehicle (UAV) control device, for the air bag of described unmanned plane
Inflation；Described air bag is at least one, is arranged on the lower end of described support.
The said goods can perform the unmanned aerial vehicle (UAV) control method that any embodiment of the present invention is provided, and possesses execution unmanned plane control
The corresponding functional module of method processed and beneficial effect.The ins and outs of the most detailed description, can be found in the present invention
The unmanned aerial vehicle (UAV) control method that any embodiment is provided.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a unmanned aerial vehicle (UAV) control method, it is characterised in that including:
Obtain the state of flight information of unmanned plane；
If described state of flight information meets the airbag inflated condition of described unmanned plane, then control the gas of described unmanned plane
Body generator is the airbag inflated of described unmanned plane.
Method the most according to claim 1, it is characterised in that described state of flight information includes described unmanned plane and obstacle
The relative acceleration between distance and described unmanned plane and barrier between thing.
Method the most according to claim 2, it is characterised in that the state of flight information of described acquisition unmanned plane particularly as follows:
By ultrasonic sensor and/or by the dual camera that is installed on unmanned plane obtain described unmanned plane and barrier it
Between distance and relative acceleration.
Method the most according to claim 2, it is characterised in that
If barrier is to be positioned at the stationary obstruction below unmanned plane, the state of flight information of described acquisition unmanned plane, including:
The distance between unmanned plane and barrier is obtained by ultrasonic sensor；
The acceleration over the ground of unmanned plane is obtained as the relative acceleration between unmanned plane and barrier by acceleration transducer.
Method the most according to claim 2, it is characterised in that if described state of flight information meets described unmanned
The airbag inflated condition of machine, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane
Particularly as follows:
If the distance between described unmanned plane and barrier is within the scope of predeterminable range, and described unmanned plane and barrier
Between relative acceleration within the scope of predetermined acceleration, then it is described unmanned for controlling the gas generation apparatus of described unmanned plane
The airbag inflated of machine.
6. a unmanned aerial vehicle (UAV) control device, it is characterised in that including:
State of flight data obtaining module, for obtaining the state of flight information of unmanned plane；
Gas generation apparatus control module, if meeting the airbag inflated of described unmanned plane for described state of flight information
Condition, then control the airbag inflated that gas generation apparatus is described unmanned plane of described unmanned plane.
Device the most according to claim 6, it is characterised in that described state of flight information includes described unmanned plane and obstacle
The relative acceleration between distance and described unmanned plane and barrier between thing.
Device the most according to claim 7, it is characterised in that described state of flight data obtaining module specifically for:
By ultrasonic sensor and/or by the dual camera that is installed on unmanned plane obtain described unmanned plane and barrier it
Between distance and relative acceleration.
Device the most according to claim 7, it is characterised in that
If barrier is to be positioned at the stationary obstruction below unmanned plane, described state of flight data obtaining module includes:
Distance acquiring unit, for obtaining the distance between unmanned plane and barrier by ultrasonic sensor；
Relative acceleration acquiring unit, for by acceleration transducer obtain unmanned plane acceleration over the ground as unmanned plane with
Relative acceleration between barrier.
Device the most according to claim 7, it is characterised in that described gas generation apparatus control module specifically for:
If the distance between described unmanned plane and barrier is within the scope of predeterminable range, and described unmanned plane and barrier
Between relative acceleration within the scope of predetermined acceleration, then it is described unmanned for controlling the gas generation apparatus of described unmanned plane
The airbag inflated of machine.
11. 1 kinds of unmanned planes, it is characterised in that include the arbitrary described unmanned aerial vehicle (UAV) control device of claim 6-10, also include
Gas generation apparatus and air bag.
12. unmanned planes according to claim 11, it is characterised in that:
Described unmanned plane includes gas generation apparatus, air bag and support, wherein,
Described gas generation apparatus is connected with described air bag, under the control of described unmanned aerial vehicle (UAV) control device, for institute
State the airbag inflated of unmanned plane；
Described air bag is at least one, is arranged on the lower end of described support.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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