CN106354149A - Flight control method and flight control apparatus for unmanned aerial vehicle - Google Patents
Flight control method and flight control apparatus for 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
- G05D1/08—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, 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
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Abstract
The embodiment of the invention provides a flight control method for an unmanned aerial vehicle. The unmanned aerial vehicle comprises a distance sensor. The method comprises the following steps of: obtaining a first flight condition of the unmanned aerial vehicle, wherein, the distance sensor in the first flight condition is a first position condition; obtaining a first command to allow the unmanned aerial vehicle enter a second flight condition; and allowing the unmanned aerial vehicle to adjust the distance sensor to a second position condition according to the first command, wherein the second position condition is different from the first position condition. The flight control method provided by the invention can be used for solving the technical problem that the unmanned aerial vehicle cannot effectively obtain the obstacle distance in the inclined flight mode, and has the technical effects of accurate detection, convenience and real-time property.
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 technology
UAV referred to as " unmanned plane ", is to be manipulated with the presetting apparatus provided for oneself using radio robot
Not manned aircraft.
At present, with the continuous development of unmanned air vehicle technique, the use of unmanned plane is more and more extensive, because unmanned plane has no
Casualties risk, survival ability is strong, mobility is good, easy to use the advantages of, it 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, ultrasound wave
Sensor etc. using so that the application scenarios of unmanned plane are more extensive, and, operate also more convenient and safety.
But, it is not enough as follows that the present inventor finds that in daily work prior art exists:
In flight, there is horizontal flight mode and vertical flight mode in unmanned plane, barrier in detection flight course
When, unmanned plane at least needs to be equipped with two range sensors, and one is used for detection level direction barrier, and another is used for detecting
Vertical direction barrier.
As can be seen here, there are two sensors of outfit in prior art and lead to high cost, flight control system processes two
The information of sensor, makes information process loaded down with trivial details.
Content of the invention
Embodiments provide a kind of UAV Flight Control method and apparatus, solve prior art high cost,
The loaded down with trivial details technical problem of information process, has low cost, information process is easy, detect accurate, convenient, real-time skill
Art effect.
In a first aspect, the invention provides a kind of UAV Flight Control method, described unmanned plane includes a Distance-sensing
Device, wherein, methods described includes: obtains the first state of flight of described unmanned plane, wherein, institute under described first state of flight
Stating range sensor is primary importance state；Obtain the first instruction that described unmanned plane enters the second state of flight；Described unmanned
Described range sensor is adjusted to second position state according to the described first instruction by machine；Wherein said second position state and institute
State primary importance state different.
Further, methods described also includes: described first state of flight is horizontal flight mode, described second flight shape
State is vertical flight mode, and wherein, the primary importance state of described range sensor is horizontal sensor state, described Distance-sensing
The second position state of device is vertical condition sensing.
Further, methods described also includes: obtains the horizontal flight attitude of described unmanned plane, obtains described unmanned plane
First flight attitude；According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust institute
State the second parameter information of range sensor, make described range sensor be horizontal sensor state.
Further, methods described also includes: obtains the vertical attitude of described unmanned plane, obtains described unmanned plane
Second flight attitude；According to the 3rd parameter information between described second flight attitude and described vertical attitude, adjust institute
State the 4th parameter information of range sensor so that described range sensor is vertical condition sensing.
Further, methods described also includes: obtains the first heading of described unmanned plane；According to the described first flight
Direction determines the 5th parameter information of described range sensor, and wherein said 5th parameter information makes described range sensor
Horizontal sensor direction is with described first heading in the same direction.
Second aspect, the embodiment of the present application additionally provides a kind of UAV Flight Control device, and described unmanned plane includes one
Range sensor, wherein, described device includes: first obtains unit, and described first obtains unit is used for obtaining described unmanned plane
The first state of flight, wherein, under described first state of flight described range sensor be primary importance state；Second acquisition
Unit, described second obtaining unit is used for obtaining the first instruction that described unmanned plane enters the second state of flight；First adjustment is single
Unit, described first adjustment unit is used for obtaining described unmanned plane, according to the described first instruction, described range sensor is adjusted to the
Two location status；Wherein said second position state is different from described primary importance state.
Preferably, described device also includes: described first state of flight is horizontal flight mode, described second state of flight
For vertical flight mode, wherein, the primary importance state of described range sensor is horizontal sensor state, described range sensor
Second position state be vertical condition sensing.
Preferably, described device also includes: the 3rd obtaining unit, and described 3rd obtaining unit is used for obtaining described unmanned plane
Horizontal flight attitude, the 4th obtaining unit, described 4th obtaining unit is used for obtaining the first flight attitude of described unmanned plane；
Second adjustment unit, described second adjustment unit is used for according between described first flight attitude and described horizontal flight attitude
First parameter information, adjusts the second parameter information of described range sensor, makes described range sensor be horizontal sensor state.
Preferably, described device also includes: the 5th obtaining unit, and described 5th obtaining unit is used for obtaining described unmanned plane
Vertical attitude, the 6th obtaining unit, described 6th obtaining unit is used for obtaining the second flight attitude of described unmanned plane；
3rd adjustment unit, the 3rd adjustment unit is used for according to the 3rd between described second flight attitude and described vertical attitude
Parameter information, adjusts the 4th parameter information of described range sensor so that described range sensor is vertical condition sensing.
Preferably, described device also includes: the 7th obtaining unit, and described 7th obtaining unit is used for obtaining described unmanned plane
The first heading；4th determining unit, described 4th determining unit is used for according to described first heading determines
5th parameter information of range sensor, wherein said 5th parameter information makes the horizontal sensor direction of described range sensor
With described first heading in the same direction.
Said one in the embodiment of the present application or multiple technical scheme, at least have following one or more technology effect
Really:
1st, in the technical scheme of the embodiment of the present invention, when unmanned plane enters the second state of flight from the first state of flight
When, unmanned plane makes range sensor also be adjusted to second position state from primary importance state simultaneously.Only used by such scheme
One range sensor can solve high cost, the information processing needing in prior art to arrange two range sensors simultaneously
The loaded down with trivial details technical problem of journey, has low cost, information process is easy, detect accurate, convenient, real-time technique effect.
2nd, in the technical scheme of the embodiment of the present invention, when unmanned plane enters vertical landing pattern from horizontal flight mode
When, make the horizontal sensor state of range sensor be adjusted to vertical condition sensing.Achieve when unmanned plane is from horizontal flight mode
Enter vertical landing pattern when, range sensor is adjusted to vertical condition sensing from horizontal sensor state therewith, have low cost,
Information process is easy, detection accurately, in real time, easily technique effect.
3rd, in the technical scheme of the embodiment of the present invention, by obtaining the of the horizontal flight attitude of unmanned plane and unmanned plane
One flight attitude；According to the first parameter information between the first flight attitude and horizontal flight attitude, adjust described Distance-sensing
Second parameter information of device is so that range sensor is horizontal sensor state.Achieve unmanned plane in horizontal flight mode, when
Flight attitude changes, but range sensor still keeps horizontal sensor state, have detection accurately, in real time, easily technique effect.
4th, in the technical scheme of the embodiment of the present invention, flown by the vertical landing attitude and second obtaining described unmanned plane
Row attitude；According to the 3rd parameter information between described second flight attitude and vertical landing attitude, adjust range sensor
4th parameter information is so that range sensor is vertical condition sensing.Achieve in unmanned plane vertical landing pattern, work as flight
Attitude changes, but range sensor still keeps vertical condition sensing, have detection accurately, in real time, easily technique effect.
5th, in the technical scheme of the embodiment of the present invention, by obtaining the first heading of described unmanned plane；According to institute
State the 5th parameter information that the first heading determines described range sensor, the wherein the 5th parameter information makes described distance pass
, in the same direction it is achieved that unmanned plane is in horizontal flight mode, distance passes for the horizontal sensor direction of sensor and described first heading
Sensor sensing direction is consistent with heading, and it is accurate, real-time, convenient to have, the technique effect of effective detection barrier.
Brief description
Fig. 1 is a kind of UAV Flight Control method flow diagram providing in the embodiment of the present invention one；
Fig. 2 is another kind of UAV Flight Control method flow diagram providing in the embodiment of the present invention two；
Fig. 3 is another the UAV Flight Control method flow diagram providing in the embodiment of the present invention three；
A kind of structural representation of the UAV Flight Control device providing in Fig. 4 position embodiment of the present invention four.
Specific embodiment
Embodiments provide a kind of UAV Flight Control method and apparatus, solve prior art high cost,
The loaded down with trivial details technical problem of information process, has low cost, information process is easy, detect accurate, convenient, real-time skill
Art effect.
The embodiment of the present application is to solve the above problems, and general thought is as follows:
When unmanned plane enters the second state of flight from the first state of flight, unmanned plane makes range sensor also from the simultaneously
One location status are adjusted to second position state.Existing skill only can be solved with a range sensor by such scheme simultaneously
Need to arrange the loaded down with trivial details technical problem of the high cost of two range sensors, information process in art, there is low cost, information
Processing procedure is easy, detect accurate, convenient, real-time technique effect.Below by accompanying drawing and specific embodiment to the present invention
Technical scheme is described in detail it should be understood that the specific features in the embodiment of the present application and embodiment are to present techniques
The detailed description of scheme, rather than the restriction to technical scheme, in the case of not conflicting, the embodiment of the present application with
And the technical characteristic in embodiment can be mutually combined.
The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes
System, for example, a and/or b, can represent: individualism a, there are a and b, these three situations of individualism b simultaneously.In addition, herein
Middle character "/", typically represent forward-backward correlation to as if a kind of relation of "or".
Embodiment one
As shown in figure 1, the present embodiment provides a kind of UAV Flight Control method flow diagram, methods described includes walking as follows
Rapid:
Step 110: obtain the first state of flight of described unmanned plane；
Specifically, described unmanned plane includes a range sensor, and under the first state of flight, described distance passes unmanned plane
Sensor is primary importance state.In the present embodiment, described first state of flight can be horizontal flight mode, described horizontal flight
Pattern is specially the heading offline mode parallel with the earth.The primary importance state of described range sensor is horizontal sensor
State, that is, the sensing direction of described range sensor is parallel with the earth.Wherein, described range sensor can be that infrared distance passes
Sensor or ultrasonic distance sensor or laser range sensor.The embodiment of the present application does not specifically limit sensor
Type.
Step 120: obtain the first instruction that unmanned plane enters the second state of flight；
Specifically, in the present embodiment, described second state of flight can be vertical flight mode, described vertical flight mould
Formula is specially the heading offline mode vertical with the earth.Described first instruction is the finger that unmanned plane enters vertical flight mode
Order.
Step 130: unmanned plane makes range sensor be adjusted to second position state from primary importance state；Wherein said
Two location status are different from described primary importance state.
Specifically, in this step, primary importance state can be horizontal sensor state, i.e. the sensing of this range sensor
Direction and the earth level；Described second position state can be vertical condition sensing, that is, the sensing direction of this range sensor with
The earth is vertical.It should be noted that example from above explanation primary importance state, second position state, the first state of flight, second
State of flight is horizontal and vertical state, and it is intended merely to clearer generation present invention design.The application is implemented
A kind of UAV Flight Control method that example is provided can be other unmanned plane during flying states or range sensor
Other sensing directions.In illustrating below, mainly taking horizontal flight and vertical flight as a example illustrated.
Specifically, in step 110, unmanned plane is in horizontal flight mode, and range sensor also keeps horizontal sensor shape
State.And in the step 120, obtain the instruction that unmanned plane enters vertical flight mode, if now range sensor still keeps level
Condition sensing, inconsistent with the vertical flight direction of unmanned plane, then it is unable to the barrier in effective detection unmanned plane during flying direction, easily
Lead to dangerous accident.
Accordingly, it would be desirable to the location status of adjustment range sensor, it is allowed to consistent with the vertical landing direction of unmanned plane, that is, adjusts
Whole for vertical condition sensing.Unmanned plane can make Distance-sensing according to the instruction of the entrance vertical landing pattern obtaining in step 120
Device is adjusted to vertical condition sensing from horizontal sensor state.
By above-described embodiment as can be seen that the unmanned plane of the embodiment of the present application only needs to configure a range sensor,
Level range finding can be obtained under horizontal flight mode；Also vertical range finding can be obtained under vertical flight mode.Also just solve
Two range sensors must be equipped with prior art simultaneously, lead to the loaded down with trivial details technical problem of high cost, information process, tool
There are low cost, information process simplicity, detect accurate, convenient, real-time technique effect.
Embodiment two
When unmanned plane is in horizontal flight mode, if flight attitude changes, the condition sensing of range sensor also with
Flight attitude changes, and is easily caused flight dangerous.Such as, when unmanned plane is using the flare maneuver faced upward, due to Distance-sensing
As well as facing upward of unmanned plane so that measurement direction is faced upward, the action of facing upward of above-mentioned range sensor makes Distance-sensing to device
Error the distance of the barrier of the horizontal direction that device records occurs so that flight safety reduces.Therefore, the present embodiment also provides
Change the flight control making range sensor still keep horizontal sensor state with horizontal flight attitude under a kind of horizontal flight mode
Method processed.Methods described step is as follows:
Step 210: obtain the horizontal flight attitude of described unmanned plane；
Specifically, the horizontal flight attitude of described unmanned plane, i.e. the fuselage of the unmanned plane flight attitude parallel with the earth.
In general, unmanned plane is under horizontal flight attitude, the distance that described range sensor records is also level, and level records
Distance also can preferably reflect the actual range of barrier it is also possible to so that unmanned plane preferably makes emergency action.
Step 220: obtain the first flight attitude of described unmanned plane；
Specifically, when unmanned plane is in horizontal flight mode, flight attitude can change, in this step, the first flight
Attitude, i.e. a kind of flight attitude different from horizontal flight.For example, when unmanned plane makes action of facing upward, and tilt angle
During for 45 °, the distance that range sensor senses barrier is a, and meanwhile, according to triangle law, this unmanned plane actual range hinders
The distance hindering thing should beIn this situation, if unmanned plane is still according to being executed avoidance action apart from a, have very much
It may happen that it is dangerous.
Step 230: according to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust
Second parameter information of described range sensor, makes described range sensor be horizontal sensor state.
Specifically, when unmanned plane is in horizontal flight mode, if flight attitude changes, range sensor can change therewith
Become condition sensing.It is thus desirable to the condition sensing of adjustment range sensor is so as to still keep horizontal sensor state.According to described
The first parameter information between one flight attitude and described horizontal flight attitude, adjusts the second parameter letter of described range sensor
Breath, makes described range sensor be horizontal sensor state.Specifically, when unmanned plane makes action of facing upward, and tilt angle is
When 45 ° (first parameter), unmanned plane execute instruction, the angle (the second parameter) of range sensor is adjusted, the knot of adjustment
Fruit is to be allowed to be in horizontal sensor state, so realize the obstacle distance of this unmanned plane acquisition be actual apart from obstacle away from
From.
Specifically, the mode of above-mentioned adjustment can be in the way of using reverse adjustment.When unmanned plane makes action of facing upward, and
When tilt angle is 45 (the first parameter), 45 ° of range sensor nutation (the second parameter) can be made so that range sensor is still protected
Hold horizontal sensor state (by way of the first parameter and the second parameter are reverse).Meanwhile, above-mentioned range sensor and aircraft
The change of attitude be dynamic, coordinate, consistent.Such processing mode is so that unmanned plane is obtained in that level side all the time
To obstacle information, and can be made adjustment in time according to above- mentioned information, carry out effective avoidance.
Further, it is to be correctly oriented to ensure that range sensor records distance, the embodiment of the present application additionally provides
A kind of method of UAV Flight Control, specifically includes:
Obtain the first heading of described unmanned plane；
Determine the 5th parameter information of described range sensor, wherein said 5th parameter according to described first heading
Information makes the horizontal sensor direction of described range sensor with described first heading in the same direction.
Specifically, horizontal sensor state refers to the condition sensing parallel with the earth, therefore includes and horizontal flight direction
Identical horizontal direction sensing and contrary horizontal direction sensing.Therefore, effective detection barrier, also need to make horizontal sensor side
To consistent with horizontal flight direction.
First heading of unmanned plane therefore also to be obtained, described first heading refers to unmanned plane and flies with described first
Horizontal flight direction during row attitude flight；And make range sensor horizontal sensor direction identical with the first heading, then
Achievable effective detection barrier.
Embodiment three
When unmanned plane is in vertical flight mode, if flight attitude changes, the condition sensing of range sensor also with
Flight attitude changes, and is easily caused flight dangerous.Such as, when unmanned plane adopts, during declining, the flare maneuver tiltedly flying,
Because range sensor makes measurement direction deflection as well as tiltedly flying of unmanned plane, the deflection action of above-mentioned range sensor
The distance of the barrier of vertical direction that range sensor records is made error to occur so that flight safety reduces.Therefore, originally
Embodiment additionally provides to change with vertical attitude under a kind of vertical flight mode makes range sensor still keep vertically sensing
The flight control method of state.Methods described step is as follows:
Step 310: obtain the vertical attitude of described unmanned plane,
Specifically, the vertical attitude of described unmanned plane, i.e. the fuselage of the unmanned plane flight attitude vertical with the earth.
In general, unmanned plane is under horizontal vertical attitude, the distance that described range sensor records is also vertical, vertically records
Distance also can preferably reflect the actual range on ground (barrier) it is also possible to so that unmanned plane preferably makes dropping action.
Step 320: obtain the second flight attitude of described unmanned plane；
Specifically, when unmanned plane is in vertical flight mode, flight attitude can change, in this step, the second flight
Attitude, i.e. a kind of flight attitude different from vertical attitude.For example, make in descent when unmanned plane and tiltedly flying
Action, and when tiltedly flying angle for 45 °, the distance that range sensor senses ground (barrier) is a, meanwhile, fixed according to triangle
Rule, the distance on this unmanned plane actual range ground (barrier) should beIn this situation, if unmanned plane still according to
Executed during dropping action it is more likely that causing danger apart from a.
Step 330: according to the 3rd parameter information between described second flight attitude and described vertical attitude, adjust
4th parameter information of described range sensor is so that described range sensor is vertical condition sensing.
Specifically, when unmanned plane is in vertical flight mode, if flight attitude changes, range sensor can change therewith
Become condition sensing.It is thus desirable to the condition sensing of adjustment range sensor is so as to still keep vertical condition sensing.According to described
The 3rd parameter information between two flight attitudes and described vertical attitude, adjusts the 4th parameter letter of described range sensor
Breath is so that described range sensor is vertical condition sensing.Specifically, above-mentioned tiltedly fly when unmanned plane is made in descent
Action, and when tiltedly flying angle for 45 ° (the 3rd parameter), unmanned plane execute instruction, by the angle (the 4th parameter) of range sensor
It is adjusted, the result of adjustment is to be allowed to be in vertical condition sensing, and then realizes the ground (barrier) of this unmanned plane acquisition
Distance is the actual distance apart from ground.
Specifically, above-mentioned adjustment mode can be in the way of being adjusted using direction.
When making, in unmanned plane descent, the work that tiltedly flies, and tiltedly flying angle for 45 ° (the 3rd parameter), distance can be made
Sensor corrects 45 ° (the 4th parameters) so that range sensor still keeps vertical condition sensing.Meanwhile, above-mentioned range sensor
Change with the attitude of aircraft is dynamic, coordinates, consistent.Such processing mode is so that unmanned plane is obtained in that all the time
Ground (barrier) information of vertical direction, and can be made adjustment in time according to above- mentioned information, effectively landed.
Further, it is to be correctly oriented to ensure that range sensor records distance, the embodiment of the present application additionally provides
A kind of method of UAV Flight Control, specifically includes:
Obtain the second heading of described unmanned plane；
Determine the 6th parameter information of described range sensor, wherein said 6th parameter according to described second heading
Information makes the vertical sensing direction of described range sensor with described second heading in the same direction.
Specifically, vertical condition sensing refers to the condition sensing vertical with the earth, therefore includes and vertical flight direction
Identical vertical direction sensing and contrary vertical direction sensing.Therefore, effective detection barrier, also need to make the vertically side of sensing
To consistent with vertical flight direction.
Second heading of unmanned plane therefore also to be obtained, described second heading refers to unmanned plane and flies with described second
Vertical flight direction during row attitude flight；And make range sensor vertical sensing direction identical with the second heading, then
Achievable effective detection barrier.
It should be noted that the angle adjustment mode of above-mentioned range sensor, adjustment structure etc. is all people in the art
The common knowledge of member, the embodiment of the present application is not specifically described.
Example IV
As shown in figure 4, the embodiment of the present application also provides a kind of UAV Flight Control device, described unmanned plane include one away from
From sensor, wherein, described device includes:
First obtains unit 11, described first obtains unit 11 is used for obtaining the first state of flight of described unmanned plane, its
In, under described first state of flight, described range sensor is primary importance state；
Second obtaining unit 12, described second obtaining unit 12 is used for obtaining described unmanned plane entrance the second state of flight
First instruction；
First adjustment unit 13, described first adjustment unit 13 is used for obtaining described unmanned plane according to the described first instruction general
Described range sensor is adjusted to second position state；Wherein said second position state is different from described primary importance state.
Further, described device also includes:
Described first state of flight is horizontal flight mode, and described second state of flight is vertical flight mode, wherein, institute
The primary importance state stating range sensor is horizontal sensor state, and the second position state of described range sensor is vertical biography
Sense state.
Further, described device also includes:
3rd obtaining unit, described 3rd obtaining unit is used for obtaining the horizontal flight attitude of described unmanned plane,
4th obtaining unit, described 4th obtaining unit is used for obtaining the first flight attitude of described unmanned plane；
Second adjustment unit, described second adjustment unit is used for according to described first flight attitude and described horizontal flight appearance
The first parameter information between state, adjusts the second parameter information of described range sensor, makes described range sensor be level
Condition sensing.
Further, described device also includes:
5th obtaining unit, described 5th obtaining unit is used for obtaining the vertical attitude of described unmanned plane,
6th obtaining unit, described 6th obtaining unit is used for obtaining the second flight attitude of described unmanned plane；
3rd adjustment unit, the 3rd adjustment unit be used for according to described second flight attitude and described vertical attitude it
Between the 3rd parameter information, adjust the 4th parameter information of described range sensor so that described range sensor is vertical biography
Sense state.
Further, described device also includes:
7th obtaining unit, described 7th obtaining unit is used for obtaining the first heading of described unmanned plane；
4th determining unit, described 4th determining unit is used for determining described Distance-sensing according to described first heading
5th parameter information of device, wherein said 5th parameter information makes the horizontal sensor direction of described range sensor and described the
One heading is in the same direction.
Described device also includes:
Obtain the second heading of described unmanned plane；
The 6th parameter information determining described range sensor, wherein said 6th parameter letter are put according to the described second flight
Breath makes the vertical sensing direction of described range sensor with described second heading in the same direction.
A kind of UAV Flight Control method and apparatus that the embodiment of the present application provides has the following technical effect that
1st, in the technical scheme of the embodiment of the present invention, when unmanned plane enters the second state of flight from the first state of flight
When, unmanned plane makes range sensor also be adjusted to second position state from primary importance state simultaneously.Solve high cost, information
The loaded down with trivial details technical problem of processing procedure, has low cost, information process is easy, detection is accurate, convenient, real-time technology effect
Really.
2nd, in the technical scheme of the embodiment of the present invention, when unmanned plane enters vertical landing pattern from horizontal flight mode
When, make the horizontal sensor state of range sensor be adjusted to vertical condition sensing.Achieve when unmanned plane is from horizontal flight mode
Enter vertical landing pattern when, range sensor is adjusted to vertical condition sensing from horizontal sensor state therewith, have low cost,
Information process is easy, detection accurately, in real time, easily technique effect.
3rd, in the technical scheme of the embodiment of the present invention, by obtaining the of the horizontal flight attitude of unmanned plane and unmanned plane
One flight attitude；According to the first parameter information between the first flight attitude and horizontal flight attitude, adjust described Distance-sensing
Second parameter information of device is so that range sensor is horizontal sensor state.Achieve unmanned plane in horizontal flight mode, when
Flight attitude changes, but range sensor still keeps horizontal sensor state, have detection accurately, in real time, easily technique effect.
4th, in the technical scheme of the embodiment of the present invention, flown by the vertical landing attitude and second obtaining described unmanned plane
Row attitude；According to the 3rd parameter information between described second flight attitude and vertical landing attitude, adjust range sensor
4th parameter information is so that range sensor is vertical condition sensing.Achieve in unmanned plane vertical landing pattern, work as flight
Attitude changes, but range sensor still keeps vertical condition sensing, have detection accurately, in real time, easily technique effect.
5th, in the technical scheme of the embodiment of the present invention, by obtaining the first heading of described unmanned plane；According to institute
State the 5th parameter information that the first heading determines described range sensor, the wherein the 5th parameter information makes described distance pass
, in the same direction it is achieved that unmanned plane is in horizontal flight mode, distance passes for the horizontal sensor direction of sensor and described first heading
Sensor sensing direction is consistent with heading, and it is accurate, real-time, convenient to have, the technique effect of effective detection barrier.
6th, in the technical scheme of the embodiment of the present invention, by obtaining the first heading of described unmanned plane；Obtain institute
State the second heading of unmanned plane；Determine the 6th parameter information of described range sensor according to described second heading,
Wherein said 6th parameter information makes the vertical sensing direction of described range sensor with described second heading in the same direction, real
Show unmanned plane in vertical landing pattern, range sensor sensing direction is consistent with heading, it is accurate, real-time, just to have
Victory, the technique effect of effective detection barrier.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to including excellent
Select embodiment and fall into being had altered and changing of the scope of the invention.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. a kind of UAV Flight Control method is it is characterised in that described unmanned plane includes a range sensor, wherein, described
Method includes:
Obtain the first state of flight of described unmanned plane, wherein, described range sensor is the under described first state of flight
One location status；
Obtain the first instruction that described unmanned plane enters the second state of flight；
Described range sensor is adjusted to second position state according to the described first instruction by described unmanned plane；Wherein said second
Location status are different from described primary importance state.
2. the method for claim 1 it is characterised in that:
Described first state of flight be horizontal flight mode, described second state of flight be vertical flight mode, wherein, described away from
It is horizontal sensor state from the primary importance state of sensor, the second position state of described range sensor is vertical sensing shape
State.
3. method as claimed in claim 2 is it is characterised in that methods described also includes:
Obtain the horizontal flight attitude of described unmanned plane,
Obtain the first flight attitude of described unmanned plane；
According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust described Distance-sensing
Second parameter information of device, makes described range sensor be horizontal sensor state.
4. method as claimed in claim 2 is it is characterised in that methods described also includes:
Obtain the vertical attitude of described unmanned plane,
Obtain the second flight attitude of described unmanned plane；
According to the 3rd parameter information between described second flight attitude and described vertical attitude, adjust described Distance-sensing
4th parameter information of device is so that described range sensor is vertical condition sensing.
5. method as claimed in claim 3 is it is characterised in that methods described also includes:
Obtain the first heading of described unmanned plane；
Determine the 5th parameter information of described range sensor, wherein said 5th parameter information according to described first heading
Make the horizontal sensor direction of described range sensor with described first heading in the same direction.
6. a kind of UAV Flight Control device is it is characterised in that described unmanned plane includes a range sensor, wherein, described
Device includes:
First obtains unit, described first obtains unit is used for obtaining the first state of flight of described unmanned plane, wherein, described
Under first state of flight, described range sensor is primary importance state；
Second obtaining unit, described second obtaining unit is used for obtaining the first finger that described unmanned plane enters the second state of flight
Order；
First adjustment unit, described first adjustment unit is used for obtaining described unmanned plane according to the described first instruction by described distance
Sensor is adjusted to second position state；Wherein said second position state is different from described primary importance state.
7. device as claimed in claim 6 is it is characterised in that described device also includes:
Described first state of flight be horizontal flight mode, described second state of flight be vertical flight mode, wherein, described away from
It is horizontal sensor state from the primary importance state of sensor, the second position state of described range sensor is vertical sensing shape
State.
8. device as claimed in claim 7 is it is characterised in that described device also includes:
3rd obtaining unit, described 3rd obtaining unit is used for obtaining the horizontal flight attitude of described unmanned plane,
4th obtaining unit, described 4th obtaining unit is used for obtaining the first flight attitude of described unmanned plane；
Second adjustment unit, described second adjustment unit be used for according to described first flight attitude and described horizontal flight attitude it
Between the first parameter information, adjust described range sensor the second parameter information, make described range sensor be horizontal sensor
State.
9. device as claimed in claim 7 is it is characterised in that described device also includes:
5th obtaining unit, described 5th obtaining unit is used for obtaining the vertical attitude of described unmanned plane,
6th obtaining unit, described 6th obtaining unit is used for obtaining the second flight attitude of described unmanned plane；
3rd adjustment unit, the 3rd adjustment unit is used for according between described second flight attitude and described vertical attitude
3rd parameter information, adjusts the 4th parameter information of described range sensor so that described range sensor is vertical sensing shape
State.
10. device as claimed in claim 8 is it is characterised in that described device also includes:
7th obtaining unit, described 7th obtaining unit is used for obtaining the first heading of described unmanned plane；
4th determining unit, described 4th determining unit is used for determining described range sensor according to described first heading
5th parameter information, wherein said 5th parameter information makes the horizontal sensor direction of described range sensor and described first fly
Line direction is in the same direction.
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| CN110147116A (en) * | 2019-04-10 | 2019-08-20 | 广州极飞科技有限公司 | Control method, control device and unmanned vehicle for unmanned vehicle climbing |
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