CN106354148B - A kind of UAV Flight Control method and apparatus - Google Patents
A kind of UAV Flight Control method and apparatus Download PDFInfo
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- CN106354148B CN106354148B CN201610996090.3A CN201610996090A CN106354148B CN 106354148 B CN106354148 B CN 106354148B CN 201610996090 A CN201610996090 A CN 201610996090A CN 106354148 B CN106354148 B CN 106354148B
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- unmanned plane
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The embodiment of the invention provides a kind of UAV Flight Control method and apparatus, are related to technical field of aerospace, and the embodiment of the present application obtains the first flight attitude of the unmanned plane by the vertical attitude of the acquisition unmanned plane；According to the first parameter information between first flight attitude and the vertical attitude, the second parameter information of the range sensor is adjusted, makes the vertical sensing direction of the range sensor.The technical effect that actual range of the unmanned plane apart from barrier is consistent with the sensing distance that range sensor obtains, and unmanned plane can effectively be avoided to collide can be effectively obtained through the above scheme.
Description
Technical field
The present invention relates to technical field of aerospace more particularly to a kind of UAV Flight Control method and apparatus.
Background technique
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.
Currently, with the continuous development of unmanned air vehicle technique, unmanned plane using more and more extensive, since unmanned plane has nothing
The advantages that casualties risk, survival ability are strong, mobility is good, easy to use has been widely used for ground mapping, gloomy
The fields such as woods exploration, rescue and relief work, logistics express delivery, high-altitude shooting.
In current unmanned aerial vehicle (UAV) control, the range sensor that unmanned plane is equipped with, such as infrared distance sensor, ultrasonic wave
The use of sensor etc., so that the application scenarios of unmanned plane are more extensive, moreover, operation is also more convenient and safe.
But the present inventor has found that the prior art has following deficiency in daily work:
During unmanned plane vertical flight, since unmanned plane waits flight progress there may be tiltedly winged, in this case, away from
There are deviation, the deviations for vertical range of the actual range and unmanned plane of barrier apart from barrier with a distance from sensor acquisition
Presence may result in unmanned plane and the danger collided occur.
Summary of the invention
The embodiment of the invention provides a kind of UAV Flight Control method and apparatus, solve prior art vertical flight
There is the technical issues of risk of collision in caused unmanned plane in the process, has the technical effect of processing efficiently, easy.
In a first aspect, the embodiment of the invention provides a kind of UAV Flight Control method, the unmanned plane include one away from
From sensor, wherein the described method includes: obtaining the vertical attitude of the unmanned plane, obtain the first of the unmanned plane
Flight attitude；According to the first parameter information between first flight attitude and the vertical attitude, adjustment it is described away from
The second parameter information from sensor makes the vertical sensing direction of the range sensor.
Preferably, the method also includes: obtain the first heading of the unmanned plane；According to the first flight side
To the third party system of the determination range sensor, wherein the third party system makes hanging down for the range sensor
Straight sensing direction and first heading are in the same direction.
Preferably, the method also includes: the unmanned planes is obtained on vertical sensing direction by the range sensor
The first barrier；Obtain target range of the unmanned plane between first barrier；Obtain the unmanned plane
Safe range；Obtain the buffering range of the unmanned plane；According to the target range, the safe range, the buffering range
Determine that the unmanned plane executes the first instruction, first instruction is for stopping at the unmanned plane except safe range.
Preferably, the method also includes: the unmanned plane is determined according to the safe range and the buffering range
First shuts down range；Judge whether the target range enters within the scope of first shutdown, refers to if so, then executing first
It enables.
Preferably, the method also includes: obtain the Weather information of the unmanned plane region；Believed according to the weather
It ceases and determines the first update information；The second shutdown range, institute are determined according to first update information and the first shutdown range
It states the second shutdown range and shuts down range not equal to described first；Judge whether the target range enters described second and shut down range
Within；If so, then executing the first instruction.
Second aspect, the embodiment of the present application also provides a kind of UAV Flight Control device, the unmanned plane includes one
Range sensor, wherein described device includes: first obtains unit, and the first obtains unit is for obtaining the unmanned plane
Vertical attitude；Second obtaining unit, second obtaining unit are used to obtain the first flight attitude of the unmanned plane；
The first adjustment unit, the first adjustment unit are used for according between first flight attitude and the vertical attitude
First parameter information adjusts the second parameter information of the range sensor, makes the vertical sensing direction of the range sensor.
Preferably, described device further include: third obtaining unit, the third obtaining unit is for obtaining the unmanned plane
The first heading；First determination unit, first determination unit are used for according to first heading determination
The third party system of range sensor, wherein the third party system makes the vertical sensing direction of the range sensor
It is in the same direction with first heading.
Preferably, described device further include: the 4th obtaining unit, the 4th obtaining unit pass through for the unmanned plane
The range sensor obtains the first barrier on vertical sensing direction；5th obtaining unit, the 5th obtaining unit are used
In target range of the acquisition unmanned plane between first barrier；6th obtaining unit, the described 6th obtains list
Member is for obtaining the safe range of the unmanned plane；7th obtaining unit, the 7th obtaining unit for obtain it is described nobody
The buffering range of machine；Second determination unit, second determination unit be used for according to the target range, the safe range,
The buffering range determines that the unmanned plane executes the first instruction, and first instruction is for making the unmanned plane stop at safety
Except range.
Preferably, described device further include: third determination unit, the third determination unit are used for according to the safe model
It encloses and determines that the first of the unmanned plane shuts down range with the buffering range；First judging unit, first judging unit are used
Within the scope of judging whether the target range enters first shutdown, the first execution unit, first execution unit
For if so, then executing the first instruction.
Preferably, described device further include: the 8th obtaining unit, the 8th obtaining unit is for obtaining the unmanned plane
The Weather information of region；4th determination unit, the 4th determination unit are used to determine first according to the Weather information
Update information；5th determination unit, the 5th determination unit are used to be shut down according to first update information and described first
Range determines the second shutdown range, and described second, which shuts down range, shuts down range not equal to described first；Second judgment unit, it is described
Second judgment unit is for judging whether the target range enters within the scope of second shutdown；Second execution unit, institute
The second execution unit is stated for if so, then executing the first instruction.
Said one or multiple technical solutions in the embodiment of the present application at least have following one or more technology effects
Fruit:
1, the first flight attitude that the embodiment of the present application passes through the acquisition unmanned plane；According to first flight attitude and
The first parameter information between the vertical attitude adjusts the second parameter information of the range sensor, make it is described away from
It is vertical sensing direction from sensor.Can effectively obtain through the above scheme actual range of the unmanned plane apart from barrier and
The sensing distance that range sensor obtains is consistent, the technical effect that can effectively avoid unmanned plane from colliding.
2, in the technical solution of the embodiment of the present invention, by the first heading for obtaining the unmanned plane；According to institute
The third party system that the first heading determines the range sensor is stated, wherein third party system passes the distance
The vertical sensing direction of sensor and first heading are in the same direction, realize unmanned plane in vertical flight mode, and distance passes
Sensor sensing direction is consistent with heading, and it is accurate, real-time, convenient to have, and effectively detects the technical effect of barrier.
3, the unmanned plane by obtaining the safe range of unmanned plane and being obtained according to first flying speed of unmanned plane
Buffering range, and on the basis of obtaining the target range apart from barrier according to the range sensor, it calculates unmanned plane and answers
The time that the execution first executes, unmanned plane is parked in except safe range.Have through the above technical solution effective
Unmanned plane during flying is controlled, the technical effect of unmanned plane and operator's safety is promoted.
4, the embodiment of the present application is by establishing the first shutdown range, and range is shut down in the position of unmanned plane and first and carried out
It is corresponding, it can quickly judge whether unmanned plane executes the technical effect of the first instruction, further improve unmanned plane and operation
The safety of person, and there is convenient and quick technical effect.
5, the embodiment of the present application passes through the Weather information for obtaining unmanned plane region, such as wind speed, and further follows up
Weather information obtains the first update information, and then by determining the according to first update information and the first shutdown range
Two shut down range, can accurately determine that unmanned plane executes the opportunity of halt instruction, can further promote unmanned plane and operation
The technical effect of the safety of person.
Detailed description of the invention
Fig. 1 is a kind of UAV Flight Control method flow diagram provided in the embodiment of the present invention；
Fig. 2 is another the UAV Flight Control method flow diagram provided in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the UAV Flight Control device provided in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of UAV Flight Control method and apparatus, solve prior art vertical flight
There is the technical issues of risk of collision in caused unmanned plane in the process, has the technical effect of processing efficiently, easy.
The embodiment of the present application is to solve the above problems, general thought is as follows:
The embodiment of the present application obtains the first flight of the unmanned plane by the vertical attitude of the acquisition unmanned plane
Posture；According to the first parameter information between first flight attitude and the vertical attitude, adjusts the distance and pass
Second parameter information of sensor makes the vertical sensing direction of the range sensor.It can effectively obtain through the above scheme
Actual range of the unmanned plane apart from barrier is consistent with the sensing distance that range sensor obtains, and can effectively avoid unmanned plane
The technical effect of collision.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Embodiment one
When unmanned plane is in vertical flight mode, if flight attitude change, the sensing direction of range sensor also with
Flight attitude changes, and it is dangerous to easily lead to flight.For example, when unmanned plane is using the flare maneuver tiltedly flown, due to Distance-sensing
Device also can make sensing direction tilt with oblique fly of unmanned plane, and the work that tiltedly flies of above-mentioned range sensor is so that Distance-sensing
Error occurs for the distance of the barrier for the vertical direction that device measures, so that flight safety reduces.
As shown in Figure 1, the present embodiment provides a kind of UAV Flight Control method flow diagrams, wherein the unmanned plane packet
Include a range sensor, which comprises
Step 110: obtaining the vertical attitude of the unmanned plane；
Specifically, the vertical attitude of the unmanned plane, the i.e. fuselage of the unmanned plane flight vertical with heading
Posture.In general, unmanned plane is under vertical attitude, the distance that the range sensor measures be also it is vertical, vertically
The distance measured also can preferably reflect the actual range of barrier, it is also possible that unmanned plane preferably makes emergency action.
Further, the range sensor can be infrared distance sensor or ultrasonic distance sensor or
Laser range sensor.The embodiment of the present application does not limit the type of sensor specifically.
Further, the vertical flight mode is specially the heading offline mode vertical with the earth.The distance
The location status of sensor is also vertical sensing direction, i.e., the sensing direction of the described range sensor is vertical with the earth.
Step 120: obtaining the first flight attitude of the unmanned plane；
Specifically, when unmanned plane is in vertical flight mode, flight attitude be can change, in this step, the first flight
Posture, i.e., a kind of flight attitudes different from vertical attitude.For example, it when unmanned plane makes movement of facing upward, and faces upward
When angle is 45 °, the distance that range sensor senses barrier is A, meanwhile, according to triangle law, the unmanned plane it is practical away from
It should be with a distance from barrierIn such case, if unmanned plane is still executed avoidance movement according to distance A,
Probably cause danger.
Step 130: according to the first parameter information between first flight attitude and the vertical attitude, adjustment
Second parameter information of the range sensor makes the vertical sensing direction of the range sensor.
Specifically, when unmanned plane is in vertical flight mode, if flight attitude changes, range sensor can change therewith
Become condition sensing.Therefore the condition sensing for needing to adjust range sensor, makes it still keep vertical sensing direction.According to described
The first parameter information between one flight attitude and the vertical attitude adjusts the second parameter letter of the range sensor
Breath, makes the vertical sensing direction of the range sensor.Specifically, it makes when unmanned plane and tiltedly flying works, and tiltedly fly angle and be
When 45 ° (first parameter), unmanned plane is executed instruction, and the angle (the second parameter) of range sensor is adjusted, the knot of adjustment
Fruit be allowed in vertical sensing direction, and then realize obstacle distance that the unmanned plane obtains be it is actual apart from obstacle away from
From.
Specifically, the mode of above-mentioned adjustment can be by the way of reversely adjusting.It makes when unmanned plane and tiltedly flying work, and
When tiltedly winged angle is 45 (the first parameter), range sensor can be made to tilt 45 ° (second parameter), so that range sensor is still protected
Hold vertical sensing direction (being reversed mode by the first parameter and the second parameter).Meanwhile above-mentioned range sensor and aircraft
Posture change be dynamic, coordinate, it is consistent.Such processing mode, so that unmanned plane can obtain Vertical Square always
To obstacle information, and can be made adjustment in time according to above- mentioned information, carry out effective avoidance.
It further, is to be correctly oriented to guarantee that range sensor measures distance, the embodiment of the present application also provides
A kind of method of UAV Flight Control, specifically includes:
Obtain the first heading of the unmanned plane；
The third party system of the range sensor is determined according to first heading, wherein the third parameter
Information makes the vertical sensing direction of the range sensor and first heading in the same direction.
Specifically, vertical sensing direction refers to the condition sensing vertical with the earth, therefore includes and vertical flight direction
Identical vertical direction sensing and opposite vertical direction sense.Therefore, barrier is effectively detected, also needs to make vertical sensing side
To consistent with vertical flight direction.
Therefore the first heading of unmanned plane is also obtained, first heading refers to that unmanned plane flies with described first
Vertical flight direction when row posture flight；And keep the vertical sensing direction of range sensor identical as the first heading, then
Effectively detection barrier can be achieved.
Evade to more preferably solve the barrier during vertical flight, the embodiment of the present application still further provides one kind
Flight control method, specific as follows:
Step 210: the unmanned plane obtains the first barrier on vertical sensing direction by the range sensor；
Step 220: obtaining target range of the unmanned plane between first barrier；
Specifically, the unmanned plane has a range sensor, the range sensor can be infrared Distance-sensing
Device, ultrasonic distance sensor, laser range sensor etc..The application does not limit the type of range sensor specifically.It is above-mentioned
Range sensor is arranged on unmanned plane, and major function is the real-time range between the monitoring unmanned plane and barrier, according to
The real-time monitoring of the range sensor determines the target range apart from barrier.
Step 230: obtaining the safe range of the unmanned plane；
Specifically, the safe range of the unmanned plane refers to: when unmanned plane flight in the sky, there is barrier in aerial somewhere
Hinder object, the distance that can guarantee that barrier is in a safe condition centered on barrier.In general, above-mentioned safe distance can be with
By way of manually setting, for example operator sets the safe distance before using unmanned plane, specifically can be 5 meters, 3 meters
Deng.Above-mentioned safe distance can also be by the way of system default, i.e., unmanned plane is according to the flying speed of itself, the machine of unmanned plane
Body size or even acquisition is analyzed according to the setting situation of how many user.It is not specific to limit setting for the application
Mode.
Step 240: obtaining the buffering range of the unmanned plane；
Specifically, being to need a certain distance from state of flight to halted state since unmanned plane is in flight course
, which can guarantee that unmanned plane realizes the change of above-mentioned state.Generally, for different flying speeds unmanned plane its
Distance required for from state of flight to halted state is different., by taking quadrotor drone as an example, quadrotor drone altogether there are four
Motor, while former and later two motors rotate counterclockwise, the motor of left and right two is to rotate clockwise, before reducing the unmanned plane
Square motor speed increases unmanned plane rear motor speed simultaneously, and two motors of left and right remain unchanged flight immediately ahead of Shi Weixiang,
It is opposite then rearward to fly.It then needs to be converted to reversed flight by forward direction flight when the unmanned plane needs to halt,
Need a buffering range in the process, and what this buffering range was determined by the flying speed.
Step 250: determining that the unmanned plane executes according to the target range, the safe range, the buffering range
First instruction, first instruction is for stopping at the unmanned plane except safe range.
Specifically, determining that the unmanned plane executes according to the target range, the safe range, the buffering range
First instruction, specifically: determine the unmanned plane according to the safe range and the buffering range first shuts down range；Sentence
Whether the target range of breaking enters within the scope of first shutdown, if so, then executing the first instruction.
Further, when the unmanned plane encounters a certain barrier in flight course, according to the target of acquisition away from
From, the safe range, the parameter of the buffering range, the range determined be first shut down range.When unmanned plane during flying mistake
After finding barrier in journey, obtains the target range and described first and shut down range, and then by comparing the target range
The size for shutting down range with described first, if the target range, which is less than described first, shuts down range, that is to say, that when described
Target range then executes the first instruction within the scope of described first shuts down.Specifically, above-mentioned first shutdown range can be
Safe range is plus the sum of buffering range.Simple example, when safe range is using barrier as the center of circle, radius is the circle of A, buffering
Range is the annulus of radius B using barrier as the center of circle, then the first shutdown distance is exactly the length or distance with A+B.When nobody
Machine when distance of the acquisition apart from barrier is C, judges whether C is greater than A+B, when being greater than, does not start first in flight course
Instruction.When being less than or equal to, the first instruction of starting.
Further, the instruction of the unmanned plane includes advancement commands, retreats instruction；First instruction of the execution is specific
Are as follows: the advancement commands of the unmanned plane are switched to retrogressing instruction.
Further, the retrogressing instruction is divided into two kinds:
1. retrogressing instruction is that the first astern speed instructs, the first astern speed instruction for instruct it is described nobody
Machine flies according to the first astern speed, first astern speed correspond to the unmanned plane apart from the safe distance first away from
From.Specifically, judging the institute of the unmanned plane and barrier when the unmanned plane during flying to described first is shut down in range
State the distance between safe range, when the distance is within the scope of first distance, illustrate the unmanned plane apart from barrier compared with
Far, the first retrogressing instruction can be executed at this time, retreated with slower astern speed, that is, first astern speed.
2. retrogressing instruction is that the second astern speed instructs, the second astern speed instruction for instruct it is described nobody
Machine flies according to the second astern speed, second astern speed correspond to the unmanned plane apart from the safe distance first away from
From.It should be noted that the first distance is greater than the second distance.Specifically, when the unmanned plane during flying is to described
When in the first shutdown range, the distance between the safe range of the unmanned plane and barrier is judged, when the distance is in
When within the scope of second distance, illustrate that the unmanned plane is closer apart from barrier, the second retrogressing instruction can be executed, at this time with very fast
Astern speed, that is, second astern speed retreat.
In order to preferably determine the opportunity for executing the first instruction, the embodiment of the present application also provides a kind of revisions first to shut down
The method of range, specific as follows:
Obtain the Weather information of the unmanned plane region；
The first update information is determined according to the Weather information；
The second shutdown range is determined according to first update information and the first shutdown range, and described second shuts down model
It encloses and shuts down range not equal to described first；
Judge whether the target range enters within the scope of second shutdown；
If so, then executing the first instruction.
Specifically, due to weather, especially wind speed shuts down range, buffering range especially therein for first
With large effect, such as if it is with the wind, and when wind speed is higher, the numerical value of buffering range will increase, if it is against the wind, and
When wind speed is higher, it may also reduce buffer the range of numerical value.What the embodiment provided obtains the first update information according to Weather information,
It can be artificial setting, be also possible to give Scientific Establishment according to the data that unmanned plane or work station obtain, it is specific to set
Mode and numerical values recited are that those skilled in the art are obtained by routine experiment means or experience, and the application, which is not done, to be had
Body description.It by above-mentioned first update information, for example can be set as the modes such as 1.1 or 0.9, determine the second shutdown range,
Such as second shutdown range can make 1.1* first shut down range；Or 0.9* first shuts down range.In turn, unmanned plane can be sentenced
Whether disconnected target range falls into the second shutdown range, and then judges whether to execute the first instruction.It, can more section by the above method
It learns, the effective shutdown opportunity for determining unmanned plane, and then guarantees unmanned plane or the safety of operator.
Further, the embodiment of the present application also provides a kind of UAV Flight Control method landed on the ground, specifically
Include:
Obtain the third instruction of the unmanned plane landing on the ground；
Determine that the second of the unmanned plane shuts down range according to the buffering range, described second shuts down range as unmanned plane
The range that can land on the ground under the first state of flight；
Judge whether the target range enters within the scope of second shutdown；
If so, then executing third instruction.
For the present embodiment, since unmanned plane needs to land on the ground, so the second shutdown range can be wrapped only
Buffering range is included, without including safe range.
Meanwhile third instruction can be landing on the ground, but still in state to be flown.Third instruction can also be drop
It falls and enters off-mode afterwards on the ground.
Embodiment two
As shown in figure 3, the embodiment of the present application also provides a kind of UAV Flight Control device, the unmanned plane include one away from
From sensor, wherein described device includes:
First obtains unit 11, the first obtains unit 11 are used to obtain the vertical attitude of the unmanned plane；
Second obtaining unit 12, second obtaining unit 12 are used to obtain the first flight attitude of the unmanned plane；
The first adjustment unit 13, the first adjustment unit 13 are used for according to first flight attitude and described vertical fly
The first parameter information between row posture adjusts the second parameter information of the range sensor, makes the range sensor
Vertical sensing direction.
Further, described device further include:
Third obtaining unit, the third obtaining unit are used to obtain the first heading of the unmanned plane；
First determination unit, first determination unit are used to determine the Distance-sensing according to first heading
The third party system of device, wherein the third party system makes the vertical sensing direction and described the of the range sensor
One heading is in the same direction.
Further, described device further include:
4th obtaining unit, the 4th obtaining unit are obtained for the unmanned plane by the range sensor vertical
The first barrier on sensing direction；
5th obtaining unit, the 5th obtaining unit is for obtaining the unmanned plane between first barrier
Target range；
6th obtaining unit, the 6th obtaining unit are used to obtain the safe range of the unmanned plane；
7th obtaining unit, the 7th obtaining unit are used to obtain the buffering range of the unmanned plane；
Second determination unit, second determination unit are used for according to the target range, safe range, described slow
Rush range and determine that the unmanned plane executes the first instruction, first instruction for make the unmanned plane stop at safe range it
Outside.
Further, described device further include:
Third determination unit, the third determination unit are used to determine institute according to the safe range and the buffering range
State unmanned plane first shuts down range；
First judging unit, first judging unit are shut down for judging whether the target range enters described first
Within the scope of,
First execution unit, first execution unit are used for if so, then executing the first instruction.
Further, described device further include:
8th obtaining unit, the 8th obtaining unit are used to obtain the Weather information of the unmanned plane region；
4th determination unit, the 4th determination unit are used to determine the first update information according to the Weather information；
5th determination unit, the 5th determination unit are used to shut down model according to first update information and described first
It encloses and determines that second shuts down range, described second, which shuts down range, shuts down range not equal to described first；
Second judgment unit, the second judgment unit are shut down for judging whether the target range enters described second
Within the scope of；
Second execution unit, second execution unit are used for if so, then executing the first instruction.
A kind of UAV Flight Control method and apparatus provided by the embodiments of the present application have the following technical effect that
1, the embodiment of the present application passes through the vertical attitude for obtaining the unmanned plane, and obtain the unmanned plane first flies
Row posture；According to the first parameter information between first flight attitude and the vertical attitude, the distance is adjusted
Second parameter information of sensor makes the vertical sensing direction of the range sensor.It can effectively obtain through the above scheme
It is consistent with the sensing distance that range sensor obtains to obtain actual range of the unmanned plane apart from barrier, can effectively avoid nobody
The technical effect of machine collision.
2, in the technical solution of the embodiment of the present invention, by the first heading for obtaining the unmanned plane；According to institute
The third party system that the first heading determines the range sensor is stated, wherein third party system passes the distance
The vertical sensing direction of sensor and first heading are in the same direction, realize unmanned plane in vertical flight mode, and distance passes
Sensor sensing direction is consistent with heading, and it is accurate, real-time, convenient to have, and effectively detects the technical effect of barrier.
3, the unmanned plane by obtaining the safe range of unmanned plane and being obtained according to first flying speed of unmanned plane
Buffering range, and on the basis of obtaining the target range apart from barrier according to the range sensor, it calculates unmanned plane and answers
The time that the execution first executes, unmanned plane is parked in except safe range.Have through the above technical solution effective
Unmanned plane during flying is controlled, the technical effect of unmanned plane and operator's safety is promoted.
4, the embodiment of the present application is by establishing the first shutdown range, and range is shut down in the position of unmanned plane and first and carried out
It is corresponding, it can quickly judge whether unmanned plane executes the technical effect of the first instruction, further improve unmanned plane and operation
The safety of person, and there is convenient and quick technical effect.
5, the embodiment of the present application passes through the Weather information for obtaining unmanned plane region, such as wind speed, and further follows up
Weather information obtains the first update information, and then by determining the according to first update information and the first shutdown range
Two shut down range, can accurately determine that unmanned plane executes the opportunity of halt instruction, can further promote unmanned plane and operation
The technical effect of the safety of person.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of UAV Flight Control method, which is characterized in that the unmanned plane includes a range sensor, wherein described
Method includes:
It obtains the vertical attitude of the unmanned plane, the vertical attitude of the unmanned plane, the i.e. fuselage of unmanned plane and flies
The vertical flight attitude of line direction；
When unmanned plane is in vertical flight mode, the first flight attitude of the unmanned plane, the vertical flight mode tool are obtained
Body is the heading offline mode vertical with the earth, and the first flight attitude is a kind of flight appearance different from vertical attitude
State；
According to the first parameter information between first flight attitude and the vertical attitude, the Distance-sensing is adjusted
Second parameter information of device, makes the vertical sensing direction of the range sensor, the vertical sensing direction, i.e., the described distance passes
The sensing direction of sensor is vertical with the earth, and the first parameter information is that unmanned plane tiltedly flies angle, and the second parameter is range sensor
Angle, the mode of adjustment is by the way of reversely adjusting；
The first heading of the unmanned plane is obtained, first heading refers to that unmanned plane is flown with first flight attitude
Vertical flight direction when row；
The third party system of the range sensor is determined according to first heading, wherein the third party system
So that the vertical sensing direction of the range sensor and first heading are in the same direction.
2. the method as described in claim 1, which is characterized in that the method also includes:
The unmanned plane obtains the first barrier on vertical sensing direction by the range sensor；
Obtain target range of the unmanned plane between first barrier；
Obtain the safe range of the unmanned plane；
Obtain the buffering range of the unmanned plane；
Determine that the unmanned plane executes the first instruction according to the target range, the safe range, the buffering range, it is described
First instruction is for stopping at the unmanned plane except safe range.
3. method according to claim 2, which is characterized in that the method also includes:
Determine the unmanned plane according to the safe range and the buffering range first shuts down range；
Judge whether the target range enters within the scope of first shutdown,
If so, then executing the first instruction.
4. method as claimed in claim 3, which is characterized in that the method also includes:
Obtain the Weather information of the unmanned plane region；
The first update information is determined according to the Weather information；
The second shutdown range is determined according to first update information and the first shutdown range, and described second shuts down range not
Range is shut down equal to described first；
Judge whether the target range enters within the scope of second shutdown；
If so, then executing the first instruction.
5. a kind of UAV Flight Control device, which is characterized in that the unmanned plane includes a range sensor, wherein described
Device includes:
First obtains unit, the first obtains unit are used to obtain the vertical attitude of the unmanned plane, the unmanned plane
Vertical attitude, i.e. the fuselage of the unmanned plane flight attitude vertical with heading；
Second obtaining unit, second obtaining unit is used to obtain the first flight attitude of the unmanned plane, at unmanned plane
In vertical flight mode, obtain the first flight attitude of the unmanned plane, the vertical flight mode be specially heading with
Greatly vertical offline mode, the first flight attitude are a kind of flight attitudes different from vertical attitude；
The first adjustment unit, the first adjustment unit be used for according to first flight attitude and the vertical attitude it
Between the first parameter information, adjust the second parameter information of the range sensor, make the range sensor vertically sense
The sensing direction in direction, the vertical sensing direction, i.e., the described range sensor is vertical with the earth, and the first parameter information is for nobody
Machine tiltedly flies angle, and the second parameter is the angle of range sensor, and the mode of adjustment is by the way of reversely adjusting；
Third obtaining unit, the third obtaining unit are used to obtain the first heading of the unmanned plane, and described first flies
Line direction refers to vertical flight direction of the unmanned plane with the first flight attitude flight when；
First determination unit, first determination unit are used to determine the range sensor according to first heading
Third party system, wherein the third party system flies the vertical sensing direction of the range sensor with described first
Line direction is in the same direction.
6. device as claimed in claim 5, which is characterized in that described device further include:
4th obtaining unit, the 4th obtaining unit obtain vertical sensing by the range sensor for the unmanned plane
The first barrier on direction；
5th obtaining unit, the 5th obtaining unit is for obtaining mesh of the unmanned plane between first barrier
Subject distance；
6th obtaining unit, the 6th obtaining unit are used to obtain the safe range of the unmanned plane；
7th obtaining unit, the 7th obtaining unit are used to obtain the buffering range of the unmanned plane；
Second determination unit, second determination unit are used for according to the target range, the safe range, the buffering model
It encloses and determines that the unmanned plane executes the first instruction, first instruction is for stopping at the unmanned plane except safe range.
7. device as claimed in claim 6, which is characterized in that described device further include:
Third determination unit, the third determination unit are used to determine the nothing according to the safe range and the buffering range
Man-machine first shuts down range；
First judging unit, first judging unit shut down range for judging whether the target range enters described first
Within,
First execution unit, first execution unit are used for if so, then executing the first instruction.
8. device as claimed in claim 7, which is characterized in that described device further include:
8th obtaining unit, the 8th obtaining unit are used to obtain the Weather information of the unmanned plane region；
4th determination unit, the 4th determination unit are used to determine the first update information according to the Weather information；
5th determination unit, the 5th determination unit are used to shut down range according to first update information and described first true
Fixed second shuts down range, and described second, which shuts down range, shuts down range not equal to described first；
Second judgment unit, the second judgment unit shut down range for judging whether the target range enters described second
Within；
Second execution unit, second execution unit are used for if so, then executing the first instruction.
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| CN110537215B (en) * | 2017-04-21 | 2021-09-17 | 深圳市大疆创新科技有限公司 | Wind velocity force feedback |
| CN107272681A (en) * | 2017-06-16 | 2017-10-20 | 深圳市可飞科技有限公司 | Adjust automatically mobile platform and the method and mobile platform of target object location relation |
| CN107608379A (en) * | 2017-09-25 | 2018-01-19 | 南京律智诚专利技术开发有限公司 | Unmanned plane during flying detours method |
| CN107968692B (en) * | 2017-11-17 | 2021-10-22 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
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| US6804607B1 (en) * | 2001-04-17 | 2004-10-12 | Derek Wood | Collision avoidance system and method utilizing variable surveillance envelope |
| AT507035B1 (en) * | 2008-07-15 | 2020-07-15 | Airbus Defence & Space Gmbh | SYSTEM AND METHOD FOR AVOIDING COLLISION |
| CN103543751A (en) * | 2013-09-12 | 2014-01-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control device of same |
| CN104977938A (en) * | 2015-07-06 | 2015-10-14 | 杨珊珊 | Fixed-dimensionality flying type multi-rotor aircraft and flying control method |
| CN105093237B (en) * | 2015-09-08 | 2018-05-11 | 天津远翥科技有限公司 | A kind of unmanned plane obstacle detector and its detection method |
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