CN106354150A - 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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- CN106354150A CN106354150A CN201610996104.1A CN201610996104A CN106354150A CN 106354150 A CN106354150 A CN 106354150A CN 201610996104 A CN201610996104 A CN 201610996104A CN 106354150 A CN106354150 A CN 106354150A
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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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention provides a flight control method and a flight control apparatus for an unmanned aerial vehicle, and relates to the technical field of aviation. According to the embodiment of the application, a first flying attitude of an unmanned aerial vehicle is obtained by obtaining the horizontal flight attitude of the unmanned aerial vehicle; the second parameter information of a distance sensor is adjusted according to the first parameter information between the first flying attitude and the horizontal flying attitude, so that the distance sensor is in a horizontal sensing direction. Through the above technical scheme, the actual distance of the unmanned aerial vehicle from an obstacle can be effectively obtained and is in line with the distance sensed by the distance sensor, so as to effectively avoid the collision of the unmanned aerial vehicle.
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:
During unmanned plane horizontal flight, because unmanned plane there may be the flight progress such as updip or nutation, at this
In the case of, the actual range apart from barrier that range sensor obtains and unmanned plane exist partially apart from the horizontal range of barrier
Difference, the presence of this deviation may result in the danger that collision in unmanned plane.
Content of the invention
Embodiments provide a kind of UAV Flight Control method and apparatus, solve state of the art flight
During the unmanned plane that leads to the technical problem of risk of collision occurs, have and process efficient, easy technique effect.
In a first aspect, embodiments providing a kind of UAV Flight Control method, described unmanned plane include one away from
From sensor, wherein, methods described includes: obtains the horizontal flight attitude of described unmanned plane, obtains the first of described unmanned plane
Flight attitude；According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjustment described away from
From the second parameter information of sensor, described range sensor is made to be horizontal sensor direction.
Preferably, methods described also includes: obtains the first heading of described unmanned plane；According to described first flight side
To the 3rd parameter information determining described range sensor, wherein said 3rd parameter information makes the water of described range sensor
Flat sensing direction is with described first heading in the same direction.
Preferably, methods described also includes: described unmanned plane passes through described range sensor and obtains on horizontal sensor direction
The first barrier；Obtain target range between described first barrier for the described unmanned plane；Obtain described unmanned plane
Safety range；Obtain the buffering range of described unmanned plane；According to described target range, described safety range, described buffering range
Determine described unmanned plane execution first instruction, described first instructs and be used for making described unmanned plane stop at outside safety range.
Preferably, methods described also includes: determines described unmanned plane according to described safety range and described buffering range
First shutdown scope；Within the scope of judging whether described target range enters described first shutdown, in this way, then execution first finger
Order.
Preferably, methods described also includes: obtains the Weather information of described unmanned plane region；Believed according to described weather
Breath determines the first update information；Second shutdown scope, institute are determined according to described first update information and described first shutdown scope
State the second shutdown scope and be not equal to described first shutdown scope；Judge whether described target range enters described second shutdown scope
Within；In this way, then execution first instruction.
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
Horizontal flight attitude；Second obtaining unit, described second obtaining unit is used for obtaining the first flight attitude of described unmanned plane；
First adjustment unit, described first 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 direction.
Preferably, described device also includes: the 3rd obtaining unit, and described 3rd obtaining unit is used for obtaining described unmanned plane
The first heading；First determining unit, described first determining unit is used for according to described first heading determines
3rd parameter information of range sensor, wherein said 3rd parameter information makes the horizontal sensor direction of described range sensor
With described first heading in the same direction.
Preferably, described device also includes: the 4th obtaining unit, and described 4th obtaining unit is passed through for described unmanned plane
Described range sensor obtains the first barrier on horizontal sensor direction；5th obtaining unit, described 5th obtaining unit is used
In acquisition target range between described first barrier for the described unmanned plane；6th obtaining unit, the described 6th obtains list
Unit is for obtaining the safety range of described unmanned plane；7th obtaining unit, described 7th obtaining unit is used for obtaining described unmanned
The buffering range of machine；Second determining unit, described second determining unit be used for according to described target range, described safety range,
Described buffering range determines described unmanned plane execution first instruction, and described first instructs and be used for making described unmanned plane stop at safety
Outside scope.
Preferably, described device also includes: the 3rd determining unit, and described 3rd determining unit is used for according to described safe model
Enclose the first shutdown scope determining described unmanned plane with described buffering range,；First judging unit, described first judging unit is used
Within the scope of judging whether described target range enters described first shutdown, the first performance element, described first performance element
For in this way, then execution first instructs.
Preferably, described device also includes: the 8th obtaining unit, and described 8th obtaining unit is used for obtaining described unmanned plane
The Weather information of region；4th determining unit, described 4th determining unit is used for determining first according to described Weather information
Update information；5th determining unit, described 5th determining unit is used for according to described first update information and described first shutdown
Scope determines the second shutdown scope, and described second shutdown scope is not equal to described first shutdown scope；Second judging unit, described
Within the scope of second judging unit is used for judging whether described target range enters described second shutdown；Second performance element, institute
State the second performance element in this way, then execution first instructs.
Said one in the embodiment of the present application or multiple technical scheme, at least have following one or more technology effect
Really:
1st, the embodiment of the present application is passed through to obtain the horizontal flight attitude of described unmanned plane, and obtain described unmanned plane first flies
Row attitude；According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust described distance
Second parameter information of sensor, makes described range sensor be horizontal sensor direction.Can effectively be obtained by such scheme
Obtain unmanned plane consistent with the sensing distance that range sensor obtains apart from the actual range of barrier, can effectively avoid unmanned
The technique effect of machine collision.
2nd, 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 3rd parameter information that the first heading determines described range sensor, the wherein the 3rd 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.
3rd, pass through the unmanned plane obtaining the safety range of unmanned plane and obtaining according to the first flight speed of unmanned plane
Buffering range, and obtained on the basis of the target range of barrier according to described range sensor, calculating unmanned plane should
The time of this execution first execution is so that unmanned plane can be parked in outside safety range.Had effectively by technique scheme
Control unmanned plane during flying, the technique effect of lifting unmanned plane and operator's safety.
4th, the embodiment of the present application is by setting up the first shutdown scope, and the position unmanned plane and the first shutdown scope are carried out
Corresponding, can quickly judge whether unmanned plane executes the technique effect of the first instruction, improve unmanned plane and operation further
The safety of person, and there is convenient and quick technique effect.
5th, the embodiment of the present application is passed through to obtain the Weather information of unmanned plane region, such as wind speed, and follows up further
Weather information obtains the first update information, and then determines the by shutting down scope according to described first update information and described first
Two shutdown scopes, can accurately determine that unmanned plane executes the opportunity of halt instruction, can lift unmanned plane and operation further
The technique effect of the safety of person.
Brief description
Fig. 1 is a kind of UAV Flight Control method flow diagram providing in the embodiment of the present invention；
Fig. 2 is another the UAV Flight Control method flow diagram providing in the embodiment of the present invention；
A kind of structural representation of UAV Flight Control device for providing in the embodiment of the present invention for the Fig. 3.
Specific embodiment
Embodiments provide a kind of UAV Flight Control method and apparatus, solve state of the art flight
During the unmanned plane that leads to the technical problem of risk of collision occurs, have and process efficient, easy technique effect.
The embodiment of the present application is to solve the above problems, and general thought is as follows:
The embodiment of the present application is passed through to obtain the horizontal flight attitude of described unmanned plane, obtains the first flight of described unmanned plane
Attitude；According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust described distance and pass
Second parameter information of sensor, makes described range sensor be horizontal sensor direction.Can effectively be obtained by such scheme
Unmanned plane is consistent with the sensing distance that range sensor obtains apart from the actual range of barrier, can effectively avoid unmanned plane
The technique effect of collision.
Below by accompanying drawing and technical solution of the present invention is described in detail 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 case of not conflicting, the technical characteristic in the embodiment of the present application and 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
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.
As shown in figure 1, the present embodiment provides a kind of UAV Flight Control method flow diagram, wherein, described unmanned plane bag
Include a range sensor, methods described includes:
Step 110: 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 parallel with heading
Attitude.In general, unmanned plane is under horizontal flight attitude, the distance that described range sensor records is also level, level
The distance recording also can preferably reflect the actual range of barrier it is also possible to so that unmanned plane preferably makes emergency action.
Further, described range sensor can be infrared distance sensor or ultrasonic distance sensor or
Laser range sensor.The embodiment of the present application does not specifically limit the type of sensor.
Further, described horizontal flight mode is specially the heading offline mode parallel with the earth.Described distance
The location status of sensor are also horizontal sensor direction, and that is, the sensing direction of described range sensor is parallel with the earth.
Step 120: 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 attitude.For example, when unmanned plane makes action of facing upward, and face upward
When angle is 45 °, the distance that range sensor senses barrier is a, meanwhile, according to triangle law, this unmanned plane actual away from
Should be with a distance from barrierIn this situation, if unmanned plane is still according to being executed avoidance action apart from a,
Probably cause danger.
Step 130: 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 direction.
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 direction.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 direction.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 direction, 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 direction (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 3rd parameter information of described range sensor, wherein said 3rd 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 direction 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.
Barrier in order to more preferably solve during horizontal flight is evaded, and the embodiment of the present application still further provides one kind
Flight control method, specific as follows:
Step 210: described unmanned plane passes through described range sensor and obtains the first barrier on horizontal sensor direction；
Step 220: obtain target range between described first barrier for the described unmanned plane；
Specifically, described unmanned plane has a range sensor, and described range sensor can be infrared Distance-sensing
Device, ultrasonic distance sensor, laser range sensor etc..The application does not specifically limit the type of range sensor.Above-mentioned
Range sensor is arranged on unmanned plane, and major function is the real-time distance monitored between described unmanned plane and barrier, according to
The real-time monitoring of described range sensor determines the target range apart from barrier.
Step 230: obtain the safety range of described unmanned plane；
Specifically, the safety range of described unmanned plane refers to: during the flight in the air of described unmanned plane, aerial somewhere has barrier
Hinder thing, the distance that can guarantee that barrier is in a safe condition centered on barrier.In general, above-mentioned safe distance is permissible
By way of artificial setting, such as operator set this safe distance before using unmanned plane, can be specifically 5 meters, 3 meters
Deng.Above-mentioned safe distance can also be by the way of system default, i.e. the flight speed according to itself for the unmanned plane, the machine of unmanned plane
Body size or even acquisition is analyzed according to the setting situation of how many users.For the application, concrete restriction does not set
Mode.
Step 240: obtain the buffering range of described unmanned plane；
Specifically, because unmanned plane is in flight course, it is to need a certain distance from state of flight to halted state
, this distance ensure that unmanned plane realizes the change of above-mentioned state.Generally, for different flight speeds unmanned plane its
Distance required for from state of flight to halted state is different., four rotor wing unmanned aerial vehicles have four taking four rotor wing unmanned aerial vehicles as a example
Motor, while former and later two motor rotate counterclockwises, left and right two motor is to turn clockwise, before reducing described unmanned plane
Square motor speed increases described unmanned plane rear motor speed simultaneously, and left and right two motor is to dead ahead flight when keeping constant,
Contrary then for rearward flying.Then need when described unmanned plane needs to halt to be converted to reverse flight by positive flight,
Need a buffering range in the process, and what this buffering range was determined by described flight speed.
Step 250: described unmanned plane execution is determined according to described target range, described safety range, described buffering range
First instruction, described first instructs and is used for making described unmanned plane stop at outside safety range.
Specifically, described unmanned plane execution is determined according to described target range, described safety range, described buffering range
First instruction, particularly as follows: determine the first shutdown scope of described unmanned plane according to described safety range and described buffering range；Sentence
Within the scope of whether described target range of breaking enters described first shutdown, in this way, then execution first instruction.
Further, when described unmanned plane runs into a certain barrier in flight course, according to obtain described target away from
From, the parameter of described safety range, described buffering range, the scope determined is the first shutdown scope.When unmanned plane during flying mistake
After finding barrier in journey, obtain described target range and described first shutdown scope, and then by relatively described target range
The size shutting down scope with described first, if described target range is less than described first shuts down scope that is to say, that working as described
Within the scope of target range is shut down described first, then execution first instruction.Specifically, above-mentioned first shutdown scope can be
Safety range adds buffering range sum.Simple example, when safety range is with barrier as the center of circle, radius is the circle of a, buffering
Scope is with barrier as the center of circle, the annulus of radius b, then the first shutdown distance is exactly with the length of a+b or distance.When unmanned
Machine in flight course, obtain apart from the distance of barrier be c when, judge c whether more than a+b, when more than when, do not start first
Instruction.When less than or equal to when, start first instruction.
Further, the instruction of described unmanned plane includes advancement commands, retreats instruction；First instruction of described execution is concrete
For: the advancement commands of described unmanned plane are switched to retrogressing instruction.
Further, described retrogressing instruction is divided into two kinds:
1. retreat instruction described in for the first astern speed instruction, described first astern speed instructs described unmanned for instructing
Machine flies according to the first astern speed, the corresponding described unmanned plane of described first astern speed apart from described safe distance first away from
From.When specifically, in the range of described unmanned plane during flying to described first is shut down, judge the institute of described unmanned plane and barrier
State the distance between safety range, when this distance is in the first distance range, described unmanned plane is described apart from barrier relatively
Far, now can execute the first retrogressing instruction, be that described first astern speed retreats with slower astern speed.
2. retreat instruction described in for the second astern speed instruction, described second astern speed instructs described unmanned for instructing
Machine flies according to the second astern speed, the corresponding described unmanned plane of described second astern speed apart from described safe distance first away from
From.It should be noted that described first distance is more than described second distance.Specifically, when described unmanned plane during flying is extremely described
When in the range of the first shutdown, judge the distance between described safety range of described unmanned plane and barrier, when this distance is in
When in the range of second distance, illustrate that described unmanned plane is nearer apart from barrier, now can execute the second retrogressing instruction, with very fast
Astern speed be described second astern speed retreat.
In order to preferably determine the opportunity of execution first instruction, the embodiment of the present application additionally provides a kind of revision first shutdown
The method of scope, specific as follows:
Obtain the Weather information of described unmanned plane region；
First update information is determined according to described Weather information；
Second shutdown scope, described second shutdown model are determined according to described first update information and described first shutdown scope
Enclose and be not equal to described first shutdown scope；
Within the scope of judging whether described target range enters described second shutdown；
In this way, then execution first instruction.
Specifically, due to weather reason, particularly wind speed is for the first shutdown scope, buffering range particularly therein
There is large effect, the numerical value of buffering range such as if with the wind, and when wind speed is higher, can be increased, if against the wind, and
When wind speed is higher, it may also reduce the scope of buffering numerical value.What this embodiment provided obtains the first update information according to Weather information,
Can be manually to set or Scientific Establishment is given according to the data that unmanned plane or work station obtain, specific setting
Mode and numerical values recited are that those skilled in the art are obtained by normal experiment means or experience, and the application does not do to be had
Body describes.By above-mentioned first update information, such as can be set as the modes such as 1.1 or 0.9, determine the second shutdown scope,
Such as second shutdown scope can make 1.1* first shut down scope；Or 0.9* first shuts down scope.And then, unmanned plane can be sentenced
Whether disconnected target range falls into the second shutdown scope, and then judges whether to execute the first instruction.By said method, can more section
Learn, effectively determine the shutdown opportunity of unmanned plane, and then ensure the safety of unmanned plane or operator.
Embodiment two
As shown in figure 3, 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 horizontal flight attitude of described unmanned plane；
Second obtaining unit 12, described second obtaining unit 12 is used for obtaining the first flight attitude of described unmanned plane；
First adjustment unit 13, described first adjustment unit 13 is used for being flown according to described first flight attitude and described level
The first parameter information between row attitude, adjusts the second parameter information of described range sensor, makes the described range sensor be
Horizontal sensor direction.
Further, described device also includes:
3rd obtaining unit, described 3rd obtaining unit is used for obtaining the first heading of described unmanned plane；
First determining unit, described first determining unit is used for determining described Distance-sensing according to described first heading
3rd parameter information of device, wherein said 3rd parameter information makes the horizontal sensor direction of described range sensor and described the
One heading is in the same direction.
Further, described device also includes:
4th obtaining unit, described 4th obtaining unit is used for described unmanned plane and obtains level by described range sensor
The first barrier on sensing direction；
5th obtaining unit, described 5th obtaining unit is used for obtaining described unmanned plane between described first barrier
Target range；
6th obtaining unit, described 6th obtaining unit is used for obtaining the safety range of described unmanned plane；
7th obtaining unit, described 7th obtaining unit is used for obtaining the buffering range of described unmanned plane；
Second determining unit, described second determining unit is used for according to described target range, described safety range, described slow
Rush scope and determine described unmanned plane execution first instruction, described first instruct be used for making described unmanned plane stop at safety range it
Outward.
Further, described device also includes:
3rd determining unit, described 3rd determining unit is used for determining institute according to described safety range and described buffering range
State the first shutdown scope of unmanned plane；
First judging unit, described first judging unit is used for judging whether described target range enters described first shutdown
Within the scope of,
First performance element, described first performance element is used in this way, then execution first instruction.
Further, described device also includes:
8th obtaining unit, described 8th obtaining unit is used for obtaining the Weather information of described unmanned plane region；
4th determining unit, described 4th determining unit is used for determining the first update information according to described Weather information；
5th determining unit, described 5th determining unit is used for according to described first update information and described first shutdown model
Enclose determination the second shutdown scope, described second shutdown scope is not equal to described first shutdown scope；
Second judging unit, described second judging unit is used for judging whether described target range enters described second shutdown
Within the scope of；
Second performance element, described second performance element is used in this way, then execution first instruction.
A kind of UAV Flight Control method and apparatus that the embodiment of the present application provides has the following technical effect that
1st, the embodiment of the present application is passed through to obtain the horizontal flight attitude of described unmanned plane, and obtain described unmanned plane first flies
Row attitude；According to the first parameter information between described first flight attitude and described horizontal flight attitude, adjust described distance
Second parameter information of sensor, makes described range sensor be horizontal sensor direction.Can effectively be obtained by such scheme
Obtain unmanned plane consistent with the sensing distance that range sensor obtains apart from the actual range of barrier, can effectively avoid unmanned
The technique effect of machine collision.
2nd, 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 3rd parameter information that the first heading determines described range sensor, the wherein the 3rd 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.
3rd, pass through the unmanned plane obtaining the safety range of unmanned plane and obtaining according to the first flight speed of unmanned plane
Buffering range, and obtained on the basis of the target range of barrier according to described range sensor, calculating unmanned plane should
The time of this execution first execution is so that unmanned plane can be parked in outside safety range.Had effectively by technique scheme
Control unmanned plane during flying, the technique effect of lifting unmanned plane and operator's safety.
4th, the embodiment of the present application is by setting up the first shutdown scope, and the position unmanned plane and the first shutdown scope are carried out
Corresponding, can quickly judge whether unmanned plane executes the technique effect of the first instruction, improve unmanned plane and operation further
The safety of person, and there is convenient and quick technique effect.
5th, the embodiment of the present application is passed through to obtain the Weather information of unmanned plane region, such as wind speed, and follows up further
Weather information obtains the first update information, and then determines the by shutting down scope according to described first update information and described first
Two shutdown scopes, can accurately determine that unmanned plane executes the opportunity of halt instruction, can lift unmanned plane and operation further
The technique effect of the safety of person.
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 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 direction.
2. the method for claim 1 is it is characterised in that methods described also includes:
Obtain the first heading of described unmanned plane；
Determine the 3rd parameter information of described range sensor, wherein said 3rd parameter information according to described first heading
Make the horizontal sensor direction of described range sensor with described first heading in the same direction.
3. the method for claim 1 is it is characterised in that methods described also includes:
Described unmanned plane passes through described range sensor and obtains the first barrier on horizontal sensor direction；
Obtain target range between described first barrier for the described unmanned plane；
Obtain the safety range of described unmanned plane；
Obtain the buffering range of described unmanned plane；
Described unmanned plane execution first instruction is determined according to described target range, described safety range, described buffering range, described
First instructs and is used for making described unmanned plane stop at outside safety range.
4. method as claimed in claim 3 is it is characterised in that methods described also includes:
Determine the first shutdown scope of described unmanned plane according to described safety range and described buffering range；
Within the scope of judging whether described target range enters described first shutdown,
In this way, then execution first instruction.
5. method as claimed in claim 4 is it is characterised in that methods described also includes:
Obtain the Weather information of described unmanned plane region；
First update information is determined according to described Weather information；
Second shutdown scope is determined according to described first update information and described first shutdown scope, described second shuts down scope not
Equal to the described first shutdown scope；
Within the scope of judging whether described target range enters described second shutdown；
In this way, then execution first instruction.
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 horizontal flight attitude of described unmanned plane；
Second obtaining unit, described second obtaining unit is used for obtaining the first flight attitude of described unmanned plane；
First adjustment unit, described first 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
Direction.
7. device as claimed in claim 6 is it is characterised in that described device also includes:
3rd obtaining unit, described 3rd obtaining unit is used for obtaining the first heading of described unmanned plane；
First determining unit, described first determining unit is used for determining described range sensor according to described first heading
3rd parameter information, wherein said 3rd parameter information makes the horizontal sensor direction of described range sensor and described first fly
Line direction is in the same direction.
8. device as claimed in claim 6 is it is characterised in that described device also includes:
4th obtaining unit, described 4th obtaining unit is used for described unmanned plane and passes through described range sensor acquisition horizontal sensor
The first barrier on direction；
5th obtaining unit, described 5th obtaining unit is used for obtaining mesh between described first barrier for the described unmanned plane
Subject distance；
6th obtaining unit, described 6th obtaining unit is used for obtaining the safety range of described unmanned plane；
7th obtaining unit, described 7th obtaining unit is used for obtaining the buffering range of described unmanned plane；
Second determining unit, described second determining unit is used for according to described target range, described safety range, described buffering model
Enclose determination described unmanned plane execution the first instruction, described first instructs and be used for making described unmanned plane stop at outside safety range.
9. device as claimed in claim 8 is it is characterised in that described device also includes:
3rd determining unit, described 3rd determining unit is used for determining described nothing according to described safety range and described buffering range
The first man-machine shutdown scope；
First judging unit, described first judging unit is used for judging whether described target range enters described first shutdown scope
Within,
First performance element, described first performance element is used in this way, then execution first instruction.
10. device as claimed in claim 9 is it is characterised in that described device also includes:
8th obtaining unit, described 8th obtaining unit is used for obtaining the Weather information of described unmanned plane region；
4th determining unit, described 4th determining unit is used for determining the first update information according to described Weather information；
5th determining unit, described 5th determining unit is used for true according to described first update information and described first shutdown scope
Fixed second shutdown scope, described second shutdown scope is not equal to described first shutdown scope；
Second judging unit, described second judging unit is used for judging whether described target range enters described second shutdown scope
Within；
Second performance element, described second performance element is used in this way, then execution first instruction.
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